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feat:add speedL interface

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lgv 2026-03-11 16:23:23 +08:00
parent 777416d73b
commit 5a751bb0d8
96 changed files with 44894 additions and 1763 deletions
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1
CMakeLists.txt
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@ -108,7 +108,6 @@ target_link_libraries(cmvr_es PRIVATE
cmvr_es::proto cmvr_es::proto
service service
${GLOG_LIBRARIES} ${GLOG_LIBRARIES}
gflags
jsoncpp jsoncpp
cmvr_es::utils cmvr_es::utils
cmvr_es::service cmvr_es::service

5
README.md
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@ -43,4 +43,9 @@ sudo apt-get install -y libx11-dev liblapack-dev libzbar-dev libpthread-stubs0-d
sudo apt-get install -y \ sudo apt-get install -y \
libusb-1.0-0-dev libudev-dev \ libusb-1.0-0-dev libudev-dev \
libglu1-mesa-dev libglu1-mesa-dev
# Matplot++
sudo apt install gnuplot-qt
``` ```

47
cmvr-es/common/CMakeLists.txt
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@ -6,7 +6,6 @@ file(GLOB SRC
${CMAKE_CURRENT_SOURCE_DIR}/utils/ffmpeg/src/CameraCapture.cpp ${CMAKE_CURRENT_SOURCE_DIR}/utils/ffmpeg/src/CameraCapture.cpp
${CMAKE_CURRENT_SOURCE_DIR}/utils/ffmpeg/src/VideoFrameEncoder.cpp ${CMAKE_CURRENT_SOURCE_DIR}/utils/ffmpeg/src/VideoFrameEncoder.cpp
${CMAKE_CURRENT_SOURCE_DIR}/utils/ffmpeg/src/VideoWriter.cpp ${CMAKE_CURRENT_SOURCE_DIR}/utils/ffmpeg/src/VideoWriter.cpp
${CMAKE_CURRENT_SOURCE_DIR}/curve/src/s_curve.cpp ${CMAKE_CURRENT_SOURCE_DIR}/curve/src/s_curve.cpp
) )
@ -18,6 +17,7 @@ target_include_directories(common PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
target_link_libraries(common PUBLIC target_link_libraries(common PUBLIC
cmvr_es::proto cmvr_es::proto
glog
opencv_core opencv_core
opencv_imgproc opencv_imgproc
opencv_highgui opencv_highgui
@ -31,18 +31,33 @@ target_link_libraries(common PUBLIC
add_library(cmvr_es::common ALIAS common) add_library(cmvr_es::common ALIAS common)
install(TARGETS common LIBRARY DESTINATION lib) install(TARGETS common LIBRARY DESTINATION lib)
add_executable(image_display_test #add_executable(image_display_test
utils/visualization/image_display_test.cpp # utils/visualization/image_display_test.cpp
) #)
#
target_link_libraries(image_display_test #target_link_libraries(image_display_test
PRIVATE # PRIVATE
cmvr_es::common # cmvr_es::common
cmvr_es::perception # cmvr_es::perception
cmvr_es::device::realsense_camera # cmvr_es::device::realsense_camera
cmvr_es::proto # cmvr_es::proto
glog # glog
gtest # gtest
gtest_main # gtest_main
pthread # pthread
) #)
#
#add_executable(s_curve_test
# curve/src/s_curve_test.cpp
#)
#
#target_link_libraries(s_curve_test
# PRIVATE
# cmvr_es::common
# cmvr_es::proto
# glog
# gtest
# gtest_main
# pthread
# Matplot++::matplot
#)

167
cmvr-es/common/curve/include/s_curve.h
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@ -3,9 +3,9 @@
// //
/** /**
* @file s_curve.h * @file s_curve.h
* @brief 标准 7 段式 S 曲线轨迹生成器（用于平滑运动控制） * @brief 严格点到点位置 S 曲线轨迹生成器
* *
* 实现标准 7 段式 S 曲线速度剖面： * 实现标准 7 段式位置 S 曲线速度剖面：
* 1. 加加速度上升段（加速度逐渐增大） * 1. 加加速度上升段（加速度逐渐增大）
* 2. 匀加速段 * 2. 匀加速段
* 3. 加加速度下降段（加速度逐渐降到 0） * 3. 加加速度下降段（加速度逐渐降到 0）
@ -14,16 +14,13 @@
* 6. 匀减速段 * 6. 匀减速段
* 7. 加加速度上升段（减速度逐渐降到 0） * 7. 加加速度上升段（减速度逐渐降到 0）
* *
* 特性： * 本类只负责严格点到点 profile 规划与采样，不负责实时目标跟踪。
* - 支持摇杆等实时增量更新
* - 支持生成完整轨迹（用于 MoveIt 路径再参数化）
* - 支持配置 max_velocity / max_acceleration / max_jerk
*/ */
#pragma once #pragma once
#include <cmath>
#include <algorithm> #include <algorithm>
#include <cmath>
#include <vector> #include <vector>
@ -61,42 +58,19 @@ struct SCurveProfile
double p0; // 初始位置 double p0; // 初始位置
double v0; // 初始速度 double v0; // 初始速度
double a0; // 初始加速度 double a0; // 初始加速度
double vf; // 终止速度
SCurveProfile() SCurveProfile()
: t1(0), t2(0), t3(0), t4(0), t5(0), t6(0), t7(0) : t1(0), t2(0), t3(0), t4(0), t5(0), t6(0), t7(0)
, total_time(0) , total_time(0)
, j_max(50.0), a_max(10.0), v_max(3.0) , j_max(50.0), a_max(10.0), v_max(3.0)
, distance(0), direction(1.0), v_cruise(0), a_limit(0) , distance(0), direction(1.0), v_cruise(0), a_limit(0)
, p0(0), v0(0), a0(0) , p0(0), v0(0), a0(0), vf(0)
{} {}
}; };
/** /**
* @brief 实时增量 S 曲线控制的状态量 * @brief 严格点到点位置 S 曲线规划器
*/
struct SCurveState
{
double position;
double velocity;
double acceleration;
double jerk;
// 目标跟踪
double target_position;
bool is_moving;
SCurveState()
: position(0), velocity(0), acceleration(0), jerk(0)
, target_position(0), is_moving(false)
{}
};
/**
* @brief S 曲线轨迹生成器
*
* 提供两种工作模式：
* 1. 实时模式：根据目标变化持续更新位置
* 2. 轨迹模式：针对给定位移生成完整轨迹
*/ */
class SCurve class SCurve
{ {
@ -121,68 +95,6 @@ public:
*/ */
void getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const; void getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const;
/**
* @brief 使用当前状态初始化生成器
* @param position 当前位置
* @param velocity 当前速度（默认 0）
* @param acceleration 当前加速度（默认 0）
*/
void initialize(double position, double velocity = 0.0, double acceleration = 0.0);
/**
* @brief 重置为初始状态
*/
void reset();
// ==================== 实时模式 ====================
/**
* @brief 更新目标位置（实时模式）
* @param target_position 新目标位置
*/
void setTarget(double target_position);
/**
* @brief 使用 S 曲线剖面计算下一步位置（实时模式）
* @param dt 时间步长（秒）
* @return 更新后的位置
*
* 本方法通过以下步骤实现实时 S 曲线控制：
* 1. 根据位置误差计算期望速度
* 2. 限制加速度变化（加加速度限制）
* 3. 限制加速度
* 4. 限制速度
* 5. 积分得到新的位置
*/
double update(double dt);
/**
* @brief 获取当前状态
*/
const SCurveState& getState() const { return state_; }
/**
* @brief 获取当前位置
*/
double getPosition() const { return state_.position; }
/**
* @brief 获取当前速度
*/
double getVelocity() const { return state_.velocity; }
/**
* @brief 获取当前加速度
*/
double getAcceleration() const { return state_.acceleration; }
/**
* @brief 是否处于运动状态
*/
bool isMoving() const { return state_.is_moving; }
// ==================== 轨迹模式 ====================
/** /**
* @brief 计算点到点运动的完整 S 曲线剖面 * @brief 计算点到点运动的完整 S 曲线剖面
* @param start_position 起始位置 * @param start_position 起始位置
@ -218,6 +130,14 @@ public:
*/ */
double getAccelerationAtTime(const SCurveProfile& profile, double t) const; double getAccelerationAtTime(const SCurveProfile& profile, double t) const;
/**
* @brief 给定剖面下，获取时刻 t 的加加速度
* @param profile S 曲线剖面
* @param t 从起点开始的时间
* @return 时刻 t 的加加速度
*/
double getJerkAtTime(const SCurveProfile& profile, double t) const;
/** /**
* @brief 按固定时间间隔生成轨迹点 * @brief 按固定时间间隔生成轨迹点
* @param profile S 曲线剖面 * @param profile S 曲线剖面
@ -232,71 +152,16 @@ public:
std::vector<double>& accelerations) const; std::vector<double>& accelerations) const;
private: private:
// 运动约束
double max_velocity_; double max_velocity_;
double max_acceleration_; double max_acceleration_;
double max_jerk_; double max_jerk_;
// 实时状态
SCurveState state_;
// 实时模式的位置跟踪增益
double position_gain_;
// 小量阈值
static constexpr double EPSILON = 1e-9; static constexpr double EPSILON = 1e-9;
static constexpr double VELOCITY_THRESHOLD = 1e-6; static constexpr double VELOCITY_THRESHOLD = 1e-6;
static constexpr double POSITION_THRESHOLD = 1e-7;
/**
* @brief 在最大减速度约束下，计算减速到 0 的时间
*/
double calculateStoppingTime(double velocity, double acceleration) const;
/**
* @brief 按 S 曲线减速剖面计算制动距离
*/
double calculateStoppingDistance(double velocity, double acceleration) const;
/**
* @brief 计算带加加速度限制的加速度更新
*/
double computeJerkLimitedAcceleration(double current_acc, double desired_acc, double dt) const;
/**
* @brief 判断所处的段并计算对应加加速度
*/
double computeSegmentJerk(const SCurveProfile& profile, double t) const; double computeSegmentJerk(const SCurveProfile& profile, double t) const;
/**
* @brief 计算短距离剖面（可能达不到最大速度）
*/
void calculateShortProfile(SCurveProfile& profile) const; void calculateShortProfile(SCurveProfile& profile) const;
/**
* @brief 计算长距离剖面（可达到最大速度）
*/
void calculateLongProfile(SCurveProfile& profile) const; void calculateLongProfile(SCurveProfile& profile) const;
/**
* @brief 将数值夹紧到指定范围
*/
static double clamp(double value, double min_val, double max_val)
{
return std::max(min_val, std::min(max_val, value));
}
/**
* @brief 符号函数
*/
static double sign(double value)
{
if (value > EPSILON) return 1.0;
if (value < -EPSILON) return -1.0;
return 0.0;
}
}; };
} // namespace } // namespace cmvr

505
cmvr-es/common/curve/src/s_curve.cpp
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@ -15,15 +15,11 @@
namespace cmvr namespace cmvr
{ {
SCurve::SCurve(double max_velocity, double max_acceleration, double max_jerk) SCurve::SCurve(double max_velocity, double max_acceleration, double max_jerk)
: max_velocity_(max_velocity) : max_velocity_(std::abs(max_velocity))
, max_acceleration_(max_acceleration) , max_acceleration_(std::abs(max_acceleration))
, max_jerk_(max_jerk) , max_jerk_(std::abs(max_jerk))
, position_gain_(10.0) // 位置跟踪增益 {}
{
reset();
}
void SCurve::setConstraints(double max_velocity, double max_acceleration, double max_jerk) void SCurve::setConstraints(double max_velocity, double max_acceleration, double max_jerk)
{ {
@ -39,201 +35,8 @@ void SCurve::getConstraints(double& max_velocity, double& max_acceleration, doub
max_jerk = max_jerk_; max_jerk = max_jerk_;
} }
void SCurve::initialize(double position, double velocity, double acceleration)
{
state_.position = position;
state_.velocity = velocity;
state_.acceleration = acceleration;
state_.jerk = 0.0;
state_.target_position = position;
state_.is_moving = false;
}
void SCurve::reset()
{
state_ = SCurveState();
}
void SCurve::setTarget(double target_position)
{
state_.target_position = target_position;
}
double SCurve::update(double dt)
{
if (dt <= 0.0 || dt > 0.1) {
return state_.position;
}
// 计算位置误差
double position_error = state_.target_position - state_.position;
// 判断是否已足够接近目标
if (std::abs(position_error) < POSITION_THRESHOLD &&
std::abs(state_.velocity) < VELOCITY_THRESHOLD) {
state_.velocity = 0.0;
state_.acceleration = 0.0;
state_.jerk = 0.0;
state_.is_moving = false;
state_.position = state_.target_position;
return state_.position;
}
state_.is_moving = true;
// ==================== S 曲线实时算法 ====================
// 通过加加速度限制实现实时 S 曲线控制
// Step 1：根据位置误差计算期望速度
// 使用比例控制并施加速度上限
double desired_velocity = position_gain_ * position_error;
desired_velocity = clamp(desired_velocity, -max_velocity_, max_velocity_);
// Step 2：根据当前速度估算制动距离（考虑 S 曲线减速剖面）
double stopping_distance = calculateStoppingDistance(state_.velocity, state_.acceleration);
// Step 3：判断是否需要开始减速
double direction = sign(position_error);
double velocity_direction = sign(state_.velocity);
// 如果正在远离目标，或距离不足以刹停，则需要减速
bool need_decelerate = false;
if (velocity_direction != 0 && velocity_direction != direction) {
// 运动方向错误：必须减速
need_decelerate = true;
} else if (std::abs(position_error) <= std::abs(stopping_distance) * 1.1) {
// 接近目标：提前开始减速（留 10% 裕量）
need_decelerate = true;
}
// Step 4：计算期望加速度
double desired_acceleration;
if (need_decelerate) {
// 减速：加速度方向应与速度相反
if (std::abs(state_.velocity) < VELOCITY_THRESHOLD) {
desired_acceleration = 0.0;
} else {
desired_acceleration = -sign(state_.velocity) * max_acceleration_;
}
} else {
// 朝目标方向加速
double velocity_error = desired_velocity - state_.velocity;
desired_acceleration = clamp(velocity_error / dt, -max_acceleration_, max_acceleration_);
}
// Step 5：施加加加速度限制（S 曲线平滑性的关键）
double new_acceleration = computeJerkLimitedAcceleration(
state_.acceleration, desired_acceleration, dt);
// Step 6：更新加加速度
state_.jerk = (new_acceleration - state_.acceleration) / dt;
// Step 7：更新加速度
state_.acceleration = new_acceleration;
// Step 8：在加速度限制下更新速度
double new_velocity = state_.velocity + state_.acceleration * dt;
new_velocity = clamp(new_velocity, -max_velocity_, max_velocity_);
state_.velocity = new_velocity;
// Step 9：更新位置
// 使用梯形积分提高精度
double avg_velocity = (state_.velocity + new_velocity) * 0.5;
state_.position += avg_velocity * dt;
// Step 10：非常接近目标且速度很小则直接夹紧到目标
if (std::abs(state_.target_position - state_.position) < POSITION_THRESHOLD * 10 &&
std::abs(state_.velocity) < VELOCITY_THRESHOLD * 10) {
state_.position = state_.target_position;
}
return state_.position;
}
double SCurve::calculateStoppingTime(double velocity, double acceleration) const
{
// 将加速度减到 0 所需时间
double t_jerk = std::abs(acceleration) / max_jerk_;
// 加加速度阶段的速度变化量
double v_change_jerk = 0.5 * std::abs(acceleration) * t_jerk;
// 加加速度阶段结束后的剩余速度
double v_remaining = std::abs(velocity) - v_change_jerk;
if (v_remaining <= 0) {
// 仅靠加加速度阶段即可停止
return std::sqrt(2.0 * std::abs(velocity) / max_jerk_);
}
// 需要进入匀减速阶段
// 匀减速阶段持续时间
double t_const = v_remaining / max_acceleration_;
// 最后一个加加速度阶段：将加速度带回到 0
double t_jerk_final = max_acceleration_ / max_jerk_;
return t_jerk + t_const + t_jerk_final;
}
double SCurve::calculateStoppingDistance(double velocity, double acceleration) const
{
double v = std::abs(velocity);
double a = std::abs(acceleration);
if (v < VELOCITY_THRESHOLD) {
return 0.0;
}
// 简化版 S 曲线制动距离估算
// 完整推导需要考虑 7 个阶段；实时控制中使用近似即可获得平滑减速效果
// 将加速度减到 0 的时间（加加速度阶段 1）
double t1 = a / max_jerk_;
double d1 = v * t1 + 0.5 * a * t1 * t1 - (1.0/6.0) * max_jerk_ * t1 * t1 * t1;
double v1 = v + a * t1 - 0.5 * max_jerk_ * t1 * t1;
if (v1 <= 0) {
// 在第一段加加速度阶段内停止
return std::abs(d1);
}
// 匀减速阶段
double t2 = (v1 - max_acceleration_ * max_acceleration_ / (2.0 * max_jerk_)) / max_acceleration_;
if (t2 < 0) t2 = 0;
double d2 = v1 * t2 - 0.5 * max_acceleration_ * t2 * t2;
double v2 = v1 - max_acceleration_ * t2;
// 最后一个加加速度阶段
double t3 = max_acceleration_ / max_jerk_;
double d3 = v2 * t3 - 0.5 * max_acceleration_ * t3 * t3 + (1.0/6.0) * max_jerk_ * t3 * t3 * t3;
double total_distance = d1 + d2 + d3;
// 增加安全裕量
return std::abs(total_distance) * 1.2;
}
double SCurve::computeJerkLimitedAcceleration(double current_acc, double desired_acc, double dt) const
{
double acc_change = desired_acc - current_acc;
double max_acc_change = max_jerk_ * dt;
// 按加加速度上限夹紧加速度变化量
acc_change = clamp(acc_change, -max_acc_change, max_acc_change);
double new_acc = current_acc + acc_change;
// 同时夹紧加速度本身
new_acc = clamp(new_acc, -max_acceleration_, max_acceleration_);
return new_acc;
}
// ==================== 轨迹模式实现 ====================
SCurveProfile SCurve::calculateProfile(double start_position, double end_position, SCurveProfile SCurve::calculateProfile(double start_position, double end_position,
double start_velocity, double end_velocity [[maybe_unused]]) double start_velocity, double end_velocity)
{ {
SCurveProfile profile; SCurveProfile profile;
profile.j_max = max_jerk_; profile.j_max = max_jerk_;
@ -242,6 +45,7 @@ SCurveProfile SCurve::calculateProfile(double start_position, double end_positio
profile.p0 = start_position; profile.p0 = start_position;
profile.v0 = start_velocity; profile.v0 = start_velocity;
profile.a0 = 0.0; // Assume starting from zero acceleration profile.a0 = 0.0; // Assume starting from zero acceleration
profile.vf = end_velocity;
double displacement = end_position - start_position; double displacement = end_position - start_position;
profile.distance = std::abs(displacement); profile.distance = std::abs(displacement);
@ -253,32 +57,128 @@ SCurveProfile SCurve::calculateProfile(double start_position, double end_positio
return profile; return profile;
} }
// 达到最大加速度所需时间（加加速度阶段） const double start_speed = profile.direction * start_velocity;
double t_j = profile.a_max / profile.j_max; const double end_speed = profile.direction * end_velocity;
if (start_speed < -VELOCITY_THRESHOLD || end_speed < -VELOCITY_THRESHOLD) {
profile.total_time = 0.0;
return profile;
}
// 单个加加速度阶段获得的速度增量 if (std::abs(start_speed) > VELOCITY_THRESHOLD ||
double v_j = 0.5 * profile.j_max * t_j * t_j; std::abs(end_speed) > VELOCITY_THRESHOLD) {
auto calc_transition = [&](double v_from, double v_to,
double& t_j, double& t_a,
double& duration, double& distance) {
t_j = 0.0;
t_a = 0.0;
duration = 0.0;
distance = 0.0;
// 加速阶段（含两个加加速度段）的位移 const double dv = std::abs(v_to - v_from);
// 假设能够达到最大加速度 if (dv <= 1e-12 || profile.a_max <= 1e-12 || profile.j_max <= 1e-12) {
double d_acc = v_j * t_j + profile.a_max * t_j * t_j + v_j; return;
}
// 判断是否能达到最大速度 const double dv_switch = profile.a_max * profile.a_max / profile.j_max;
double v_acc = 2 * v_j; // Velocity gained during full acceleration phase if (dv < dv_switch) {
t_j = std::sqrt(dv / profile.j_max);
if (v_acc >= profile.v_max) { t_a = 0.0;
// 达不到最大加速度：三角形剖面
calculateShortProfile(profile);
} else { } else {
// 判断是否能在半程之前达到最大速度 t_j = profile.a_max / profile.j_max;
double d_to_vmax = d_acc + (profile.v_max - v_acc) * (profile.v_max - v_acc) / (2.0 * profile.a_max); t_a = dv / profile.a_max - t_j;
}
if (2.0 * d_to_vmax > profile.distance) { duration = 2.0 * t_j + t_a;
// 达不到最大速度：梯形加速度剖面 distance = 0.5 * (v_from + v_to) * duration;
calculateShortProfile(profile); };
const double v_cap = std::max({profile.v_max, start_speed, end_speed});
const double v_peak_min = std::max(start_speed, end_speed);
double acc_tj = 0.0, acc_ta = 0.0, acc_duration = 0.0, acc_distance = 0.0;
double dec_tj = 0.0, dec_ta = 0.0, dec_duration = 0.0, dec_distance = 0.0;
calc_transition(start_speed, v_peak_min,
acc_tj, acc_ta, acc_duration, acc_distance);
calc_transition(v_peak_min, end_speed,
dec_tj, dec_ta, dec_duration, dec_distance);
const double d_min = acc_distance + dec_distance;
if (profile.distance + EPSILON < d_min) {
profile.total_time = 0.0;
return profile;
}
calc_transition(start_speed, v_cap,
acc_tj, acc_ta, acc_duration, acc_distance);
calc_transition(v_cap, end_speed,
dec_tj, dec_ta, dec_duration, dec_distance);
const double d_cap = acc_distance + dec_distance;
double v_peak = v_cap;
double t4 = 0.0;
if (profile.distance > d_cap + EPSILON) {
t4 = (profile.distance - d_cap) / std::max(v_peak, EPSILON);
} else { } else {
// 可达到最大速度：完整 S 曲线 double lo = v_peak_min;
double hi = v_cap;
for (int iter = 0; iter < 80; ++iter) {
const double mid = 0.5 * (lo + hi);
double mid_acc_tj = 0.0, mid_acc_ta = 0.0, mid_acc_duration = 0.0, mid_acc_distance = 0.0;
double mid_dec_tj = 0.0, mid_dec_ta = 0.0, mid_dec_duration = 0.0, mid_dec_distance = 0.0;
calc_transition(start_speed, mid,
mid_acc_tj, mid_acc_ta, mid_acc_duration, mid_acc_distance);
calc_transition(mid, end_speed,
mid_dec_tj, mid_dec_ta, mid_dec_duration, mid_dec_distance);
const double d_mid = mid_acc_distance + mid_dec_distance;
if (d_mid < profile.distance) {
lo = mid;
} else {
hi = mid;
}
}
v_peak = hi;
calc_transition(start_speed, v_peak,
acc_tj, acc_ta, acc_duration, acc_distance);
calc_transition(v_peak, end_speed,
dec_tj, dec_ta, dec_duration, dec_distance);
}
profile.t1 = acc_tj;
profile.t2 = acc_ta;
profile.t3 = acc_tj;
profile.t4 = t4;
profile.t5 = dec_tj;
profile.t6 = dec_ta;
profile.t7 = dec_tj;
profile.v_cruise = v_peak;
profile.a_limit = std::max(profile.j_max * profile.t1, profile.j_max * profile.t5);
profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 +
profile.t5 + profile.t6 + profile.t7;
return profile;
}
const double j = profile.j_max;
const double a = profile.a_max;
const double v = profile.v_max;
const double t_j_a = a / j;
if (v < a * t_j_a) {
const double t_j_v = std::sqrt(v / j);
const double s_min = 2.0 * j * t_j_v * t_j_v * t_j_v;
if (profile.distance > s_min + EPSILON) {
calculateLongProfile(profile); calculateLongProfile(profile);
} else {
calculateShortProfile(profile);
}
} else {
const double t_a_v = v / a - t_j_a;
const double s_half_v =
a * (t_j_a * t_j_a + 1.5 * t_j_a * t_a_v + 0.5 * t_a_v * t_a_v);
const double s_min = 2.0 * s_half_v;
if (profile.distance > s_min + EPSILON) {
calculateLongProfile(profile);
} else {
calculateShortProfile(profile);
} }
} }
@ -287,24 +187,16 @@ SCurveProfile SCurve::calculateProfile(double start_position, double end_positio
void SCurve::calculateShortProfile(SCurveProfile& profile) const void SCurve::calculateShortProfile(SCurveProfile& profile) const
{ {
// 短距离情况下，可能达不到最大速度，甚至达不到最大加速度 // 短距离：无巡航段（t4 = 0），与 moveL_SCurveLocal 中的 SCurveProfile1D 保持一致。
// 使用对称剖面：t1=t3=t5=t7，t2=t6，t4=0 const double j = profile.j_max;
const double a = profile.a_max;
const double v = profile.v_max;
const double d = profile.distance;
const double t_j_a = a / j;
double j = profile.j_max; if (v < a * t_j_a) {
double a = profile.a_max; // 达不到 a_max：极短距离时只有 4 个 jerk 段。
// double v = profile.v_max; // 短剖面不会达到最大速度，因此不使用 const double t1 = std::cbrt(d / (2.0 * j));
double d = profile.distance;
// 达到最大加速度所需时间
double t_j = a / j;
// 判断是否能达到最大加速度
// 纯加加速度剖面（t1=t3，无匀加速）的位移
double d_jerk_only = j * t_j * t_j * t_j / 3.0;
if (d < 2.0 * d_jerk_only) {
// 极短距离：纯加加速度剖面
double t1 = std::cbrt(d * 1.5 / j);
profile.t1 = t1; profile.t1 = t1;
profile.t2 = 0.0; profile.t2 = 0.0;
profile.t3 = t1; profile.t3 = t1;
@ -312,46 +204,36 @@ void SCurve::calculateShortProfile(SCurveProfile& profile) const
profile.t5 = t1; profile.t5 = t1;
profile.t6 = 0.0; profile.t6 = 0.0;
profile.t7 = t1; profile.t7 = t1;
profile.v_cruise = j * t1 * t1; // 峰值速度 profile.v_cruise = j * t1 * t1;
profile.a_limit = j * t1; // 峰值加速度 profile.a_limit = j * t1;
} else { } else {
// 需要匀加速阶段 // 能达到 a_max，但达不到 v_max：求无巡航的匀加速持续时间。
// 在位移约束下求解 t1 与 t2 const double D = t_j_a * t_j_a + 4.0 * (d / a);
// d = 2 * (v_j * t_j + 0.5 * a * t_j^2 + a * t_a * t_j + 0.5 * a * t_a^2) double t2 = (-3.0 * t_j_a + std::sqrt(std::max(0.0, D))) * 0.5;
profile.t1 = t_j;
profile.t3 = t_j;
profile.t5 = t_j;
profile.t7 = t_j;
// t1 结束时速度
double v1 = 0.5 * j * t_j * t_j;
// 4 个加加速度段覆盖的位移
double d_jerk = 4.0 * (v1 * t_j / 2.0 + j * t_j * t_j * t_j / 6.0);
// 匀加速/匀减速阶段的剩余位移
double d_const = d - d_jerk;
// 求解 t2（匀加速时间）
// 使用一元二次方程
double A = a;
double B = 2.0 * v1 + a * t_j;
double C = -d_const / 2.0;
double discriminant = B * B - 4.0 * A * C;
if (discriminant < 0) discriminant = 0;
double t2 = (-B + std::sqrt(discriminant)) / (2.0 * A);
if (t2 < 0) t2 = 0;
if (t2 < 0.0) {
const double t1 = std::cbrt(d / (2.0 * j));
profile.t1 = t1;
profile.t2 = 0.0;
profile.t3 = t1;
profile.t4 = 0.0;
profile.t5 = t1;
profile.t6 = 0.0;
profile.t7 = t1;
profile.v_cruise = j * t1 * t1;
profile.a_limit = j * t1;
} else {
profile.t1 = t_j_a;
profile.t2 = t2; profile.t2 = t2;
profile.t3 = t_j_a;
profile.t4 = 0.0;
profile.t5 = t_j_a;
profile.t6 = t2; profile.t6 = t2;
profile.t4 = 0.0; // No cruise phase profile.t7 = t_j_a;
profile.v_cruise = a * (t2 + t_j_a);
profile.v_cruise = v1 + a * (t_j + t2);
profile.a_limit = a; profile.a_limit = a;
} }
}
profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 + profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 +
profile.t5 + profile.t6 + profile.t7; profile.t5 + profile.t6 + profile.t7;
@ -359,46 +241,43 @@ void SCurve::calculateShortProfile(SCurveProfile& profile) const
void SCurve::calculateLongProfile(SCurveProfile& profile) const void SCurve::calculateLongProfile(SCurveProfile& profile) const
{ {
// 含巡航段的完整 7 段式 S 曲线 // 含巡航段的完整 7 段式 S 曲线；与 SCurveProfile1D 的 full-profile 公式一致。
double j = profile.j_max; const double j = profile.j_max;
double a = profile.a_max; const double a = profile.a_max;
double v = profile.v_max; const double v = profile.v_max;
double d = profile.distance; const double d = profile.distance;
const double t_j_a = a / j;
// 加加速度段持续时间 if (v < a * t_j_a) {
double t_j = a / j; // 达不到 a_max，但可以达到 v_max 并进入巡航。
const double t_j_v = std::sqrt(v / j);
const double s_min = 2.0 * j * t_j_v * t_j_v * t_j_v;
profile.t1 = t_j_v;
profile.t2 = 0.0;
profile.t3 = t_j_v;
profile.t4 = std::max(0.0, (d - s_min) / v);
profile.t5 = t_j_v;
profile.t6 = 0.0;
profile.t7 = t_j_v;
profile.v_cruise = v;
profile.a_limit = j * t_j_v;
} else {
// 能达到 a_max 和 v_max。
const double t_a = v / a - t_j_a;
const double s_half =
a * (t_j_a * t_j_a + 1.5 * t_j_a * t_a + 0.5 * t_a * t_a);
const double s_min = 2.0 * s_half;
// 加速阶段加加速度段获得的速度增量 profile.t1 = t_j_a;
double v_j = 0.5 * j * t_j * t_j;
// 匀加速达到最大速度所需时间
double t_a = (v - 2.0 * v_j) / a;
if (t_a < 0) t_a = 0;
profile.t1 = t_j;
profile.t2 = t_a; profile.t2 = t_a;
profile.t3 = t_j; profile.t3 = t_j_a;
profile.t5 = t_j; profile.t4 = std::max(0.0, (d - s_min) / v);
profile.t5 = t_j_a;
profile.t6 = t_a; profile.t6 = t_a;
profile.t7 = t_j; profile.t7 = t_j_a;
// 加速阶段（t1+t2+t3）覆盖的位移
double d_acc = v_j * t_j + 0.5 * a * t_j * t_j + // t1
(v_j + 0.5 * a * t_j) * t_a + 0.5 * a * t_a * t_a + // t2
(v_j + a * t_j + a * t_a) * t_j + 0.5 * a * t_j * t_j - j * t_j * t_j * t_j / 6.0; // t3
// 减速阶段对称
double d_dec = d_acc;
// 巡航段位移
double d_cruise = d - d_acc - d_dec;
if (d_cruise < 0) d_cruise = 0;
// 巡航段时间
profile.t4 = d_cruise / v;
profile.v_cruise = v; profile.v_cruise = v;
profile.a_limit = a; profile.a_limit = a;
}
profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 + profile.total_time = profile.t1 + profile.t2 + profile.t3 + profile.t4 +
profile.t5 + profile.t6 + profile.t7; profile.t5 + profile.t6 + profile.t7;
@ -509,7 +388,7 @@ double SCurve::getPositionAtTime(const SCurveProfile& profile, double t) const
double SCurve::getVelocityAtTime(const SCurveProfile& profile, double t) const double SCurve::getVelocityAtTime(const SCurveProfile& profile, double t) const
{ {
if (t <= 0) return profile.v0; if (t <= 0) return profile.v0;
if (t >= profile.total_time) return 0.0; // 假设末端静止 if (t >= profile.total_time) return profile.vf;
double j = profile.j_max * profile.direction; double j = profile.j_max * profile.direction;
double v = profile.v0; double v = profile.v0;
@ -616,6 +495,14 @@ double SCurve::getAccelerationAtTime(const SCurveProfile& profile, double t) con
return a + j * (t - t_end6); return a + j * (t - t_end6);
} }
double SCurve::getJerkAtTime(const SCurveProfile& profile, double t) const
{
if (t <= 0.0 || t >= profile.total_time) {
return 0.0;
}
return computeSegmentJerk(profile, t);
}
void SCurve::generateTrajectory(const SCurveProfile& profile, double dt, void SCurve::generateTrajectory(const SCurveProfile& profile, double dt,
std::vector<double>& positions, std::vector<double>& positions,
std::vector<double>& velocities, std::vector<double>& velocities,
@ -647,9 +534,9 @@ void SCurve::generateTrajectory(const SCurveProfile& profile, double dt,
if (positions.empty() || if (positions.empty() ||
std::abs(positions.back() - (profile.p0 + profile.distance * profile.direction)) > EPSILON) { std::abs(positions.back() - (profile.p0 + profile.distance * profile.direction)) > EPSILON) {
positions.push_back(profile.p0 + profile.distance * profile.direction); positions.push_back(profile.p0 + profile.distance * profile.direction);
velocities.push_back(0.0); velocities.push_back(profile.vf);
accelerations.push_back(0.0); accelerations.push_back(0.0);
} }
} }
} // namespace el_a3_hardware }

0
cmvr-es/common/utils/math/qp_solver.h → cmvr-es/common/math/include/qp_solver.h
View File

0
cmvr-es/common/utils/math/support_functions.h → cmvr-es/common/math/include/support_functions.h
View File

373
cmvr-es/common/utils/visualization/image_display_test.cpp
View File

@ -1,373 +0,0 @@
#include "common/utils/visualization/image_display.h"
#include "common/utils/image/image_process.h"
#include "devices/camera/realsense_camera/include/realsense_camera.h"
#include "perception/include/tag_relative_target_3d.h"
#include <gtest/gtest.h>
#include <cmath>
#include <iostream>
#include <opencv2/imgproc.hpp>
#include <string>
namespace {
cv::Mat makeBlankImage(int width = 160, int height = 120) {
return cv::Mat(height, width, CV_8UC3, cv::Scalar(0, 0, 0));
}
constexpr const char* kRsSerial = "243122074587";
constexpr double kTagSizeM = 0.01975;
constexpr int kRsWidth = 1280;
constexpr int kRsHeight = 720;
constexpr int kRsFps = 30;
constexpr int kTargetU = -1; // negative means image center
constexpr int kTargetV = -1; // negative means image center
constexpr int kDisplayFrames = 1200;
constexpr const char* kTrackingWindowName = "ImageDisplayTagTrackingTest";
int countNonZeroPixelsInRoi(const cv::Mat& image, const cv::Rect& roi) {
const cv::Rect image_rect(0, 0, image.cols, image.rows);
const cv::Rect clipped = roi & image_rect;
if (clipped.width <= 0 || clipped.height <= 0) {
return 0;
}
cv::Mat gray;
cv::cvtColor(image(clipped), gray, cv::COLOR_BGR2GRAY);
return cv::countNonZero(gray);
}
bool projectTargetToPixel(const Eigen::Vector3d& p_c,
const cmvr::device::Rs2Intrinsics& intrinsics,
cmvr::common::Pixel& pixel_out) {
Eigen::Vector2d uv = Eigen::Vector2d::Zero();
if (!cmvr::ImageProcess::projectCameraPointToPixel(intrinsics, p_c, uv)) {
return false;
}
pixel_out.u = static_cast<int>(std::lround(uv.x()));
pixel_out.v = static_cast<int>(std::lround(uv.y()));
return true;
}
} // namespace
TEST(OpenCvImageCvDisplayTest, RenderFailsWithoutImage) {
cmvr::common::OpenCvImageCvDisplay display;
cv::Mat rendered;
EXPECT_FALSE(display.render(rendered));
}
TEST(OpenCvImageCvDisplayTest, RenderPointChangesCenterRegion) {
cmvr::common::OpenCvImageCvDisplay display;
display.setImage(makeBlankImage());
display.showPoint(cmvr::common::Pixel{60, 40},
cmvr::common::Color::red(),
5,
-1,
"target");
cv::Mat rendered;
ASSERT_TRUE(display.render(rendered));
ASSERT_FALSE(rendered.empty());
const cv::Vec3b center = rendered.at<cv::Vec3b>(40, 60);
EXPECT_GT(static_cast<int>(center[2]), 150);
EXPECT_LT(static_cast<int>(center[1]), 80);
EXPECT_LT(static_cast<int>(center[0]), 80);
}
TEST(OpenCvImageCvDisplayTest, RenderCircleChangesExpectedArcRegion) {
cmvr::common::OpenCvImageCvDisplay display;
display.setImage(makeBlankImage());
display.showCircle(cmvr::common::Pixel{60, 40},
12,
cmvr::common::Color::yellow(),
2);
cv::Mat rendered;
ASSERT_TRUE(display.render(rendered));
ASSERT_FALSE(rendered.empty());
EXPECT_GT(countNonZeroPixelsInRoi(rendered, cv::Rect(58, 26, 5, 5)), 0);
EXPECT_EQ(countNonZeroPixelsInRoi(rendered, cv::Rect(59, 39, 3, 3)), 0);
}
TEST(OpenCvImageCvDisplayTest, RenderCrossChangesHorizontalAndVerticalArms) {
cmvr::common::OpenCvImageCvDisplay display;
display.setImage(makeBlankImage());
display.showCross(cmvr::common::Pixel{60, 40},
10,
cmvr::common::Color::blue(),
2);
cv::Mat rendered;
ASSERT_TRUE(display.render(rendered));
ASSERT_FALSE(rendered.empty());
EXPECT_GT(countNonZeroPixelsInRoi(rendered, cv::Rect(49, 39, 5, 3)), 0);
EXPECT_GT(countNonZeroPixelsInRoi(rendered, cv::Rect(59, 29, 3, 5)), 0);
}
TEST(OpenCvImageCvDisplayTest, RenderTextChangesRequestedRegion) {
cmvr::common::OpenCvImageCvDisplay display;
display.setImage(makeBlankImage());
cmvr::common::TextOverlay overlay;
overlay.text = "tracked tag: 7";
overlay.position_px = cmvr::common::Pixel{10, 30};
overlay.color = cmvr::common::Color::white();
overlay.draw_background = true;
display.showText(overlay);
cv::Mat rendered;
ASSERT_TRUE(display.render(rendered));
ASSERT_FALSE(rendered.empty());
EXPECT_GT(countNonZeroPixelsInRoi(rendered, cv::Rect(5, 5, 120, 35)), 0);
}
TEST(OpenCvImageCvDisplayTest, ClearOverlaysRemovesAllRenderedGeometry) {
cmvr::common::OpenCvImageCvDisplay display;
display.setImage(makeBlankImage());
display.showPoint(cmvr::common::Pixel{60, 40},
cmvr::common::Color::red(),
5,
-1,
"target");
display.showCircle(cmvr::common::Pixel{60, 40},
12,
cmvr::common::Color::yellow(),
2);
display.showCross(cmvr::common::Pixel{60, 40},
10,
cmvr::common::Color::blue(),
2);
display.showText("tracked tag: 7",
cmvr::common::Pixel{10, 30},
cmvr::common::Color::white(),
0.7,
2);
display.clearOverlays();
cv::Mat rendered;
ASSERT_TRUE(display.render(rendered));
ASSERT_FALSE(rendered.empty());
EXPECT_EQ(countNonZeroPixelsInRoi(rendered, cv::Rect(0, 0, rendered.cols, rendered.rows)), 0);
}
TEST(OpenCvImageCvDisplayTest, ShowDisplaysWindowIfHighGuiIsAvailable) {
constexpr const char* kWindowName = "OpenCvImageCvDisplayTest";
cmvr::common::OpenCvImageCvDisplay display(kWindowName);
bool window_enabled = true;
try {
cv::namedWindow(kWindowName, cv::WINDOW_NORMAL);
cv::imshow(kWindowName, cv::Mat(120, 160, CV_8UC3, cv::Scalar(20, 20, 20)));
cv::waitKey(1);
} catch (const cv::Exception& e) {
window_enabled = false;
std::cout << "[OpenCvImageCvDisplayTest] window disabled: " << e.what() << "\n";
}
if (!window_enabled) {
GTEST_SKIP() << "OpenCV highgui is not available, skip windowed test.";
}
for (int frame = 0; frame < 1200; ++frame) {
cv::Mat image(240, 320, CV_8UC3, cv::Scalar(20, 20, 20));
display.setImage(image);
display.clearOverlays();
const int center_u = 80 + frame;
const int center_v = 120;
display.showPoint(cmvr::common::Pixel{center_u, center_v},
cmvr::common::Color::red(),
5,
-1,
"target");
display.showCircle(cmvr::common::Pixel{center_u, center_v},
18,
cmvr::common::Color::yellow(),
2);
display.showCross(cmvr::common::Pixel{center_u, center_v},
10,
cmvr::common::Color::blue(),
2);
display.showText("tracked tag: 7",
cmvr::common::Pixel{20, 30},
cmvr::common::Color::white(),
0.8,
2);
const int key = display.show(30);
if (key == 27 || key == 'q' || key == 'Q') {
break;
}
}
display.close();
}
TEST(OpenCvImageCvDisplayTest, ShowTrackingImageWithActiveTagAndTargetPoint) {
const std::string serial = kRsSerial;
if (serial.empty()) {
GTEST_SKIP() << "kRsSerial is empty, please set it in image_display_test.cpp";
}
cmvr::config::RealSenseCameraConfig cam_cfg;
cam_cfg.set_id("image_display_test");
cam_cfg.set_serialnumber(serial);
cam_cfg.set_width(kRsWidth);
cam_cfg.set_height(kRsHeight);
cam_cfg.set_fps(kRsFps);
cam_cfg.set_codec("H265");
cam_cfg.set_camera_mode(cmvr::config::CAMERA_MODE_PHOTO);
cam_cfg.set_stream_mode(cmvr::config::STREAM_MODE_RGBD);
cam_cfg.set_align_mode(cmvr::config::ALIGN_MODE_COLOR);
cam_cfg.set_buffer_size(30);
cam_cfg.set_sync(true);
cam_cfg.set_enable(true);
auto camera = std::make_shared<cmvr::device::RealsenseCamera>(cam_cfg);
auto perception = std::make_shared<cmvr::perception::AprilTagPerception>(camera);
perception->setTagSize(kTagSizeM);
cmvr::perception::TagRelativeTarget3D tracker(perception);
tracker.setTargetPointMethod(cmvr::perception::TagRelativeTarget3D::TargetPointMethod::TAG_PLANE);
tracker.setActiveTagSwitchPolicy(4, 1.2);
tracker.setTrackingCandidateScoreWeights(1.0, 2.0, 0.08);
cmvr::perception::AprilTagPerception::Options opt;
opt.depth_policy = cmvr::perception::AprilTagPerception::DepthPolicy::NONE;
opt.detect_tags = true;
ASSERT_NO_THROW(camera->init());
ASSERT_NO_THROW(camera->start());
struct CameraStopGuard {
std::shared_ptr<cmvr::device::RealsenseCamera> cam;
~CameraStopGuard() {
if (!cam) return;
try {
cam->stop();
} catch (...) {
}
}
} stop_guard{camera};
cmvr::common::OpenCvImageCvDisplay display(kTrackingWindowName);
bool window_enabled = true;
try {
cv::namedWindow(kTrackingWindowName, cv::WINDOW_NORMAL);
cv::resizeWindow(kTrackingWindowName, kRsWidth, kRsHeight);
cv::imshow(kTrackingWindowName,
cv::Mat(kRsHeight, kRsWidth, CV_8UC3, cv::Scalar(20, 20, 20)));
cv::waitKey(1);
} catch (const cv::Exception& e) {
window_enabled = false;
std::cout << "[OpenCvImageCvDisplayTest] window disabled: " << e.what() << "\n";
}
if (!window_enabled) {
GTEST_SKIP() << "OpenCV highgui is not available, skip windowed test.";
}
bool target_uv_initialized = false;
int target_u = kTargetU;
int target_v = kTargetV;
bool target_locked = false;
for (int frame = 0; frame < kDisplayFrames; ++frame) {
const bool update_ok = perception->update(opt);
const cv::Mat& color = perception->color();
cv::Mat display_image = color.empty()
? cv::Mat(kRsHeight, kRsWidth, CV_8UC3, cv::Scalar(20, 20, 20))
: color;
display.setImage(display_image);
display.clearOverlays();
if (!target_uv_initialized && !display_image.empty()) {
target_u = (kTargetU >= 0) ? kTargetU : (display_image.cols / 2);
target_v = (kTargetV >= 0) ? kTargetV : (display_image.rows / 2);
target_uv_initialized = true;
}
if (target_uv_initialized) {
const cmvr::common::Pixel selected_px{target_u, target_v};
display.showCross(selected_px, 10, cmvr::common::Color::yellow(), 2);
display.showCircle(selected_px, 14, cmvr::common::Color::yellow(), 2);
}
bool tracker_ok = false;
if (target_uv_initialized && !color.empty()) {
if (!target_locked) {
tracker_ok = tracker.startTrackingFromPixel(target_u, target_v);
target_locked = tracker_ok;
} else {
tracker_ok = tracker.track();
}
}
if (tracker_ok) {
cmvr::common::Pixel target_px{};
if (projectTargetToPixel(tracker.lastTargetInCamera(), perception->intrinsics(), target_px)) {
display.showPoint(target_px,
cmvr::common::Color::red(),
5,
-1,
"target");
display.showCircle(target_px, 18, cmvr::common::Color::red(), 2);
}
}
display.showText("active tag: " + std::to_string(tracker.activeTagId()),
cmvr::common::Pixel{20, 30},
cmvr::common::Color::white(),
0.8,
2);
display.showText("perception: " +
std::string(cmvr::perception::AprilTagPerception::statusToString(
perception->lastStatus())),
cmvr::common::Pixel{20, 60},
cmvr::common::Color::white(),
0.7,
2);
display.showText("tracker: " +
std::string(cmvr::perception::TagRelativeTarget3D::statusToString(
tracker.lastStatus())),
cmvr::common::Pixel{20, 90},
cmvr::common::Color::white(),
0.7,
2);
display.showText("tags: " + std::to_string(perception->tags().size()) +
" frame_ok: " + std::string(update_ok ? "true" : "false"),
cmvr::common::Pixel{20, 120},
cmvr::common::Color::white(),
0.7,
2);
if (tracker_ok) {
const Eigen::Vector3d& p_c_target = tracker.lastTargetInCamera();
display.showText("target_c: [" +
std::to_string(p_c_target.x()) + ", " +
std::to_string(p_c_target.y()) + ", " +
std::to_string(p_c_target.z()) + "]",
cmvr::common::Pixel{20, 150},
cmvr::common::Color::white(),
0.6,
2);
}
const int key = display.show(1);
if (key == 27 || key == 'q' || key == 'Q') {
break;
}
}
display.close();
}

2
cmvr-es/controller/src/ibvs_controller.cpp
View File

@ -1,7 +1,7 @@
#include "controller/include/ibvs_controller.h" #include "controller/include/ibvs_controller.h"
#include "common/utils/image/image_process.h" #include "common/utils/image/image_process.h"
#include "common/utils/math/support_functions.h" #include "common/math/include/support_functions.h"
#include <algorithm> #include <algorithm>
#include <cmath> #include <cmath>

2
cmvr-es/devices/robot/humanoid_robot/src/humanoid_robot.cpp
View File

@ -7,7 +7,7 @@
#include "motor/ti5_motor/ti5_motor.h" #include "motor/ti5_motor/ti5_motor.h"
#include "../../../../utils/base/include/abstract_interpolation.h" #include "../../../../utils/base/include/abstract_interpolation.h"
#include "data_center/include/motors_info.h" #include "data_center/include/motors_info.h"
#include "common/utils/math/support_functions.h" #include "common/math/include/support_functions.h"
using namespace std; using namespace std;
using namespace cmvr::device; using namespace cmvr::device;

2
cmvr-es/ik_solver/CMakeLists.txt
View File

@ -20,6 +20,7 @@ target_link_libraries(ik_solver PUBLIC
pinocchio_default pinocchio_default
pinocchio_parsers pinocchio_parsers
pinocchio_collision pinocchio_collision
cmvr_es::planner
cmvr_es::common cmvr_es::common
) )
@ -46,6 +47,7 @@ target_link_libraries(srs_ik_test
gtest_main gtest_main
pthread pthread
glog glog
matplot
) )

2
cmvr-es/ik_solver/include/joints_limit_analyzer.h
View File

@ -7,7 +7,7 @@
#include <vector> #include <vector>
#include <Eigen/Core> #include <Eigen/Core>
#include "common/utils/math/support_functions.h" #include "common/math/include/support_functions.h"
namespace cmvr { namespace cmvr {
class JointsLimitAnalyzer { class JointsLimitAnalyzer {

2
cmvr-es/ik_solver/include/opt_psi_selector.h
View File

@ -7,7 +7,7 @@
#include <cmath> #include <cmath>
#include <vector> #include <vector>
#include "common/utils/math/support_functions.h" #include "common/math/include/support_functions.h"
namespace cmvr { namespace cmvr {
class OptPsiSelector { class OptPsiSelector {

314
cmvr-es/ik_solver/include/pinocchio_dls_ik_solver.h
View File

@ -1,14 +1,16 @@
// Created by lgv on 11/28/25.
#pragma once #pragma once
#include "ik_solver/include/pinocchio_ik_base.h" #include "ik_solver/include/pinocchio_ik_base.h"
#include <Eigen/Core> #include <Eigen/Core>
#include <limits> #include <limits>
#include <memory> #include <memory>
#include <string> #include <string>
#include <vector> #include <vector>
#include "cartesian_space_planner/include/cartesian_twist_limiter.h"
namespace cmvr { namespace cmvr {
/** /**
@ -16,26 +18,35 @@ namespace cmvr {
* *
* 提供以下能力： * 提供以下能力：
* - 位姿 IK（`ik`） * - 位姿 IK（`ik`）
* - 正运动学 FK（`fk`） * - 正运动学 FK（`fk`，继承自基类）
* - 末端 twist 到关节速度的微分 IK（`ik` 重载） * - 末端 twist 到关节速度的微分 IK（`ik` 重载）
* - 直线 MoveL（S 曲线标量规划 + 局部系微分 IK） * - 直线 MoveL（S 曲线标量规划 + 局部系微分 IK）
* - speedL（基于 CartesianTwistLimiter + DLS 微分 IK）
* *
* 求解链路由 URDF 中 `base_frame_name -> flange_frame_name` 自动提取， * 求解链路由 URDF 中 `base_frame_name -> flange_frame_name` 自动提取，
* 并支持可选 TCP frame。 * 并支持可选 TCP frame。
*/ */
class PinocchioDlsIKSolver : public PinocchioIKBase { class PinocchioDlsIKSolver : public PinocchioIKBase {
public: public:
/** struct SpeedLConfig {
* @brief 构造 `PinocchioDlsIKSolver`。 double linear_velocity_max{0.25};
* @param urdf_path URDF 文件路径。 double linear_acceleration_max{0.8};
* @param base_frame_name 机械臂基座 frame 名称。 double linear_jerk_max{4.0};
* @param flange_frame_name 机械臂法兰 frame 名称。
* @param tcp_frame_name TCP frame 名称；为空表示不使用 TCP。 double angular_velocity_max{1.0};
* @param max_iters IK 最大迭代次数。 double angular_acceleration_max{3.0};
* @param pos_eps 平移收敛阈值（m）。 double angular_jerk_max{15.0};
* @param rot_eps 旋转收敛阈值（rad）。
* @param damping DLS 阻尼系数，建议默认值大于 `1e-6` 以提升稳定性。 std::vector<double> joint_velocity_max; ///< size=chain_v_dof_，为空则仅用 URDF limit
*/ std::vector<double> joint_acceleration_max; ///< size=chain_v_dof_，为空则不做 joint accel 限制
double linear_target_replan_threshold{1e-4};
double angular_target_replan_threshold{1e-4};
double linear_reverse_cos_threshold{-0.8660254037844386}; // cos(150deg)
double linear_reverse_switch_speed_threshold{1e-3};
};
PinocchioDlsIKSolver(const std::string &urdf_path, PinocchioDlsIKSolver(const std::string &urdf_path,
const std::string &base_frame_name, const std::string &base_frame_name,
const std::string &flange_frame_name, const std::string &flange_frame_name,
@ -43,85 +54,32 @@ public:
int max_iters = 100, int max_iters = 100,
double pos_eps = 1e-6, double pos_eps = 1e-6,
double rot_eps = 1e-6, double rot_eps = 1e-6,
double damping = 1e-4); // 建议默认比 1e-6 大点更稳 double damping = 1e-4);
~PinocchioDlsIKSolver() override = default; ~PinocchioDlsIKSolver() override = default;
/**
* @brief 初始化求解器（加载 URDF、提取链路、缓存限位与基座位姿）。
* @return 成功返回 `true`，失败返回 `false`。
*/
bool init() override; bool init() override;
/**
* @brief 位姿 IK 求解。
* @param target_pose base 坐标系下目标位姿。
* @param joints_angle 输出关节角（链空间）。
* @param is_tcp 为 `true` 时以 TCP 为末端，否则以 flange 为末端。
* @return 成功返回 `true`，失败返回 `false`。
*/
bool ik(const Eigen::Matrix4d &target_pose, bool ik(const Eigen::Matrix4d &target_pose,
std::vector<double> &joints_angle, std::vector<double> &joints_angle,
bool is_tcp = true) override; bool is_tcp = true) override;
/**
* @brief 位姿 IK 求解（显式指定 base_link 与 ee_link）。
*
* 约束：`base_link` 与 `ee_link` 必须位于初始化单一链（base->tip）
* 对应分支内，且 `base_link` 需是 `ee_link` 的祖先（或同一 link）。
*
* @param base_link 基座 frame 名称（目标位姿参考系）。
* @param ee_link 末端 frame 名称。
* @param target_pose `ee_link` 在 `base_link` 下的目标位姿。
* @param joints_angle 输出关节角（链空间）。
* @return 成功返回 `true`，失败返回 `false`。
*/
bool ik(const std::string& base_link, bool ik(const std::string& base_link,
const std::string& ee_link, const std::string& ee_link,
const Eigen::Matrix4d& target_pose, const Eigen::Matrix4d& target_pose,
std::vector<double>& joints_angle); std::vector<double>& joints_angle);
/**
* @brief 生成 MoveL 关节轨迹（局部系微分 IK + S 曲线标量规划）。
*
* 该接口仅跟踪平移直线，姿态保持起点姿态。
*
* @param target_pose_base base 坐标系下目标位姿（平移有效，姿态仅用于接口一致性）。
* @param q_start 起始关节角（链空间）。
* @param q_traj 输出关节轨迹序列。
* @param t_traj 输出时间戳序列（秒）。
* @param dt 控制周期（秒）。
* @param v_tcp_max TCP 线速度上限（m/s）。
* @param a_tcp_max TCP 线加速度上限（m/s^2）。
* @param j_tcp_max TCP 线加加速度上限（m/s^3）。
* @param qd_max 关节速度上限（rad/s），长度应等于 `chain_dof_`。
* @param is_tcp 为 `true` 时以 TCP 为末端，否则以 flange 为末端。
* @return 成功返回 `true`，失败返回 `false`。
*/
bool moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_base, bool moveL_SCurveLocal(const Eigen::Matrix4d& target_pose_base,
const std::vector<double>& q_start, const std::vector<double>& q_start,
std::vector<std::vector<double>>& q_traj, std::vector<std::vector<double>>& q_traj,
std::vector<double>& t_traj, std::vector<double>& t_traj,
double dt, double dt,
double v_tcp_max, // m/s double v_tcp_max,
double a_tcp_max, // m/s^2 double a_tcp_max,
double j_tcp_max, // m/s^3 double j_tcp_max,
const std::vector<double>& qd_max, // rad/s, size=chain_dof const std::vector<double>& qd_max,
bool is_tcp = true); bool is_tcp = true);
/**
* @brief 用 DLS 微分逆解将末端局部坐标系 twist 映射为关节速度。
*
* 当前关节状态取自内部 `cur_joints_angle_`（调用前需先 `update_joints_state`）。
*
* @param base_link 基坐标系 frame 名称。
* @param ee_link 末端 frame 名称。
* @param target_vel 末端期望速度 [vx vy vz wx wy wz]^T，单位 m/s 与 rad/s，坐标系为 `ee_link` 局部系。
* @param joints_vel 输出的关节速度，size=chain_v_dof_，单位 rad/s。
* @param damping DLS 阻尼系数，<=0 时使用成员 damping_。
* @param qdot_abs_max 关节速度绝对值限幅；同时会叠加 URDF velocityLimit。
* @return 成功返回 `true`，失败返回 `false`。
*/
bool ik(const std::string& base_link, bool ik(const std::string& base_link,
const std::string& ee_link, const std::string& ee_link,
const Eigen::Matrix<double,6,1>& target_vel, const Eigen::Matrix<double,6,1>& target_vel,
@ -129,118 +87,192 @@ public:
double damping = -1.0, double damping = -1.0,
double qdot_abs_max = std::numeric_limits<double>::infinity()); double qdot_abs_max = std::numeric_limits<double>::infinity());
/**
* @brief 配置关节限位避障 null-space 项。
*
* @param enable 是否启用。
* @param gain 避障增益（rad/s 量纲）。
* @param margin_ratio 在上下限附近触发的边界带占总行程比例 (0, 0.5)。
* @param max_push 每关节最大推回速度（rad/s），<=0 表示不额外限幅。
*/
void setJointLimitAvoidance(bool enable, void setJointLimitAvoidance(bool enable,
double gain = 0.2, double gain = 0.2,
double margin_ratio = 0.15, double margin_ratio = 0.15,
double max_push = 0.25); double max_push = 0.25);
/**
* @brief 设置 IK 最大迭代次数。
* @param iters 最大迭代次数。
*/
void setMaxIters(int iters) { max_iters_ = iters; } void setMaxIters(int iters) { max_iters_ = iters; }
/**
* @brief 设置 DLS 阻尼系数。
* @param d 阻尼系数。
*/
void setDamping(double d) { damping_ = d; } void setDamping(double d) { damping_ = d; }
/**
* @brief 设置 IK 收敛阈值。
* @param pos_eps 平移阈值（m）。
* @param rot_eps 旋转阈值（rad）。
*/
void setEps(double pos_eps, double rot_eps) { pos_eps_ = pos_eps; rot_eps_ = rot_eps; } void setEps(double pos_eps, double rot_eps) { pos_eps_ = pos_eps; rot_eps_ = rot_eps; }
private: // ==================== speedL ====================
/**
* @brief 计算阻尼伪逆。
* @param J 输入雅可比矩阵。
* @param lambda 阻尼系数。
* @return 阻尼伪逆矩阵。
*/
Eigen::MatrixXd dampedPseudoInverse(const Eigen::MatrixXd &J, double lambda);
/** /**
* @brief 将链关节向量组装为 full-model `q`。 * @brief 配置 speedL task-space / joint-space 限幅参数。
* @param q_chain 输入链关节向量。 *
* @param q_full 输出 full-model 关节向量。 * 调用后会重置 speedL 内部运行态，但保留本次配置。
* @param context 调用上下文（用于日志）。
* @return 组装成功返回 `true`。
*/ */
bool configureSpeedL(const SpeedLConfig& config);
/**
* @brief 重置 speedL 运行状态（不清除配置）。
*/
void resetSpeedL();
/**
* @brief speedL 单步（推荐：真机/仿真闭环版本）
*
* 输入为测得关节状态与目标末端 twist，输出关节速度命令。
* 使用注意：
* 1) 这是 speedL 的首选接口，真机和 MuJoCo 闭环都应优先使用这个版本。
* 2) q_measured / qdot_measured 必须与本次控制周期对齐；如果时间戳漂移，task-space limiter
* 的 synchronize 会基于错误状态工作。
* 3) 返回的 qdot_cmd 仍然是 solver 侧命令值，不等于驱动器最终实际执行速度。
*
* 流程：
* 1) 用 q_measured / qdot_measured 计算当前 measured twist(base)
* 2) 同步到 CartesianTwistLimiter
* 3) task-space 限幅得到 command twist(base)
* 4) 用 DLS 微分 IK 解出 qdot
* 5) 做 joint velocity / joint acceleration 限幅
* 6) 回算 executed twist(base)
*
* @param target_twist 目标末端 twist（Base 或 Tool 系）
* @param dt 控制周期
* @param q_measured 当前测得关节位置，size=chain_dof_
* @param qdot_measured 当前测得关节速度，size=chain_v_dof_
* @param qdot_cmd 输出关节速度命令，size=chain_v_dof_
* @param input_frame target_twist 的输入坐标系
* @param is_tcp true: TCP；false: flange
*/
bool speedLStep(const Eigen::Matrix<double,6,1>& target_twist,
double dt,
const std::vector<double>& q_measured,
const std::vector<double>& qdot_measured,
std::vector<double>& qdot_cmd,
CartesianFrame input_frame = CartesianFrame::Tool,
bool is_tcp = true);
/**
* @brief speedL 单步（半闭环版本：有 q，无 qd）
*
* 使用测得 q_measured 更新当前姿态，
* 并用上一拍命令速度作为 qdot_measured 的近似反馈。
*
* 使用注意：
* 1) 只有在能拿到真实 q、但暂时拿不到真实 qd 时再用这个版本。
* 2) 这里的 qdot_measured 是 speedl_prev_qdot_cmd_ 的近似值；下游存在饱和、延迟或丢包时，
* 这个近似会偏乐观。
* 3) 一旦能拿到真实 qdot，应切回带 q_measured/qdot_measured 的闭环版本。
*/
bool speedLStep(const Eigen::Matrix<double,6,1>& target_twist,
double dt,
const std::vector<double>& q_measured,
std::vector<double>& qdot_cmd,
CartesianFrame input_frame = CartesianFrame::Tool,
bool is_tcp = true);
/**
* @brief speedL 单步（开环退化版本：无 q，无 qd）
*
* 使用内部 cur_joints_angle_ 与上一拍命令速度作为近似反馈，
* 并在每拍后用本次 qdot_cmd 做一次内部姿态推进。
*
* 使用注意：
* 1) 只有在当前周期既拿不到真实 q、也拿不到真实 qd 时，才应使用这个版本。
* 2) 该版本依赖内部预测状态，会随时间累计漂移；不适合长时间连续运行。
* 3) 仅当 chain_dof_ == chain_v_dof_ 时才允许使用，因为内部使用简单的 q += qdot * dt
* 欧拉推进。
* 4) 一旦恢复真实 q 或 qd，请立即切回上面两个 overload。
*/
bool speedLStep(const Eigen::Matrix<double,6,1>& target_twist,
double dt,
std::vector<double>& qdot_cmd,
CartesianFrame input_frame = CartesianFrame::Tool,
bool is_tcp = true);
const Eigen::Matrix<double,6,1>& getSpeedLMeasuredTwistBase() const {
return speedl_twist_measured_base_;
}
const Eigen::Matrix<double,6,1>& getSpeedLCommandTwistBase() const {
return speedl_twist_command_base_;
}
const Eigen::Matrix<double,6,1>& getSpeedLExecutedTwistBase() const {
return speedl_twist_executed_base_;
}
const std::vector<double>& getSpeedLPrevQdotCmd() const {
return speedl_prev_qdot_cmd_;
}
bool isSpeedLConfigured() const { return speedl_configured_; }
private:
Eigen::MatrixXd dampedPseudoInverse(const Eigen::MatrixXd &J, double lambda);
bool buildFullQFromChain(const Eigen::VectorXd& q_chain, bool buildFullQFromChain(const Eigen::VectorXd& q_chain,
Eigen::VectorXd& q_full, Eigen::VectorXd& q_full,
const char* context) const; const char* context) const;
/**
* @brief 从 full Jacobian 中提取当前链对应列。
* @param J_full full-model Jacobian。
* @return 链空间 Jacobian。
*/
Eigen::MatrixXd extractChainJacobian(const Eigen::Matrix<double,6,Eigen::Dynamic>& J_full) const; Eigen::MatrixXd extractChainJacobian(const Eigen::Matrix<double,6,Eigen::Dynamic>& J_full) const;
/**
* @brief 获取 base 在 world 下位姿（固定基座时优先使用缓存）。
* @return base 在 world 下的位姿。
*/
const pinocchio::SE3& getBasePoseWorld() const; const pinocchio::SE3& getBasePoseWorld() const;
/**
* @brief 计算关节限位避障的二级速度项（未投影）。
* @param q_chain 当前链关节位置。
* @return 二级目标速度向量。
*/
Eigen::VectorXd computeJointLimitAvoidanceVelocity(const Eigen::VectorXd& q_chain) const; Eigen::VectorXd computeJointLimitAvoidanceVelocity(const Eigen::VectorXd& q_chain) const;
/**
* @brief 将二级目标速度投影到任务零空间。
* @param J_pinv 任务雅可比伪逆。
* @param J 任务雅可比。
* @param secondary 二级目标速度。
* @return 零空间投影结果 `N * secondary`，其中 `N = I - J_pinv * J`。
*/
Eigen::VectorXd projectToNullspace(const Eigen::MatrixXd& J_pinv, Eigen::VectorXd projectToNullspace(const Eigen::MatrixXd& J_pinv,
const Eigen::MatrixXd& J, const Eigen::MatrixXd& J,
const Eigen::VectorXd& secondary) const; const Eigen::VectorXd& secondary) const;
// ==================== speedL helpers ====================
bool resolveSpeedLEeFrame(bool is_tcp, pinocchio::FrameIndex& ee_id) const;
bool buildJacobianBaseAtQ(const std::vector<double>& q_chain,
pinocchio::FrameIndex ee_id,
Eigen::MatrixXd& J_base,
Eigen::Matrix3d& base_R_ee,
Eigen::VectorXd* q_full_out = nullptr);
bool computeMeasuredTwistBase(const std::vector<double>& q_chain,
const std::vector<double>& qdot_chain,
pinocchio::FrameIndex ee_id,
Eigen::Matrix<double,6,1>& twist_base,
Eigen::MatrixXd* J_base_out = nullptr,
Eigen::Matrix3d* base_R_ee_out = nullptr,
Eigen::VectorXd* q_full_out = nullptr);
Eigen::VectorXd applyJointVelocityLimits(const Eigen::VectorXd& qdot_des) const;
Eigen::VectorXd applyJointAccelerationLimits(const Eigen::VectorXd& qdot_des,
const Eigen::VectorXd& qdot_reference,
double dt) const;
private: private:
/** @brief 当前链在 full-model `q` 中的起始索引。 */
int chain_q_start_{0}; int chain_q_start_{0};
/** @brief 当前链关节位置自由度数量。 */
int chain_dof_{0}; int chain_dof_{0};
/** @brief 当前链在 full-model `v` 中的起始索引。 */
int chain_v_start_{0}; int chain_v_start_{0};
/** @brief 当前链关节速度自由度数量。 */
int chain_v_dof_{0}; int chain_v_dof_{0};
/** @brief 是否启用 null-space 关节限位避障。 */
bool limit_avoidance_enabled_{false}; bool limit_avoidance_enabled_{false};
/** @brief 限位避障增益。 */
double limit_avoidance_gain_{0.2}; double limit_avoidance_gain_{0.2};
/** @brief 限位触发边界比例（占关节行程比例）。 */
double limit_avoidance_margin_ratio_{0.15}; double limit_avoidance_margin_ratio_{0.15};
/** @brief 每关节最大推回速度（rad/s），<=0 表示不额外限幅。 */
double limit_avoidance_max_push_{0.25}; double limit_avoidance_max_push_{0.25};
/** @brief 是否启用基座位姿缓存。 */
bool base_pose_cached_{false}; bool base_pose_cached_{false};
/** @brief 缓存的 base 在 world 下位姿。 */
pinocchio::SE3 oM_base_cached_; pinocchio::SE3 oM_base_cached_;
/** @brief 求解器是否已完成初始化。 */
bool initialized_{false}; bool initialized_{false};
/** @brief IK 最大迭代次数。 */
int max_iters_; int max_iters_;
/** @brief IK 平移收敛阈值（m）。 */
double pos_eps_; double pos_eps_;
/** @brief IK 旋转收敛阈值（rad）。 */
double rot_eps_; double rot_eps_;
/** @brief DLS 阻尼系数。 */
double damping_; double damping_;
// ==================== speedL state ====================
bool speedl_configured_{false};
bool speedl_last_is_tcp_{true};
SpeedLConfig speedl_config_;
CartesianTwistLimiter speedl_twist_limiter_;
std::vector<double> speedl_prev_qdot_cmd_; ///< size=chain_v_dof_
Eigen::Matrix<double,6,1> speedl_twist_measured_base_{Eigen::Matrix<double,6,1>::Zero()};
Eigen::Matrix<double,6,1> speedl_twist_command_base_{Eigen::Matrix<double,6,1>::Zero()};
Eigen::Matrix<double,6,1> speedl_twist_executed_base_{Eigen::Matrix<double,6,1>::Zero()};
}; };
} // namespace cmvr } // namespace cmvr

2
cmvr-es/ik_solver/include/pinocchio_qp_ik_solver.h
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@ -8,7 +8,7 @@
#pragma once #pragma once
#include "ik_solver/include/pinocchio_ik_base.h" #include "ik_solver/include/pinocchio_ik_base.h"
#include "common/utils/math/qp_solver.h" #include "common/math/include/qp_solver.h"
#include <Eigen/Core> #include <Eigen/Core>
#include <memory> #include <memory>

2
cmvr-es/ik_solver/src/bias_srs_ik_slover.cpp
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@ -4,7 +4,7 @@
#include "ik_solver/include/bias_srs_ik_slover.h" #include "ik_solver/include/bias_srs_ik_slover.h"
#include <iostream> #include <iostream>
#include "common/utils/math/support_functions.h" #include "common/math/include/support_functions.h"
#include "common/consts/constant.h" #include "common/consts/constant.h"
using namespace cmvr; using namespace cmvr;
using namespace Eigen; using namespace Eigen;

2
cmvr-es/ik_solver/src/lawba_ik_solver.cpp
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@ -3,7 +3,7 @@
// //
#include "ik_solver/include/lawba_ik_solver.h" #include "ik_solver/include/lawba_ik_solver.h"
#include "common/utils/math/support_functions.h" #include "common/math/include/support_functions.h"
using namespace cmvr; using namespace cmvr;

758
cmvr-es/ik_solver/src/pinocchio_dls_ik_solver.cpp
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888
cmvr-es/ik_solver/src/srs_ik_test.cpp
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19
cmvr-es/planner/CMakeLists.txt
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@ -1,8 +1,13 @@
add_library(planner STATIC add_library(planner STATIC
joint_space_planner/src/joint_space_planner.cpp joint_space_planner/src/joint_space_planner.cpp
joint_space_planner/src/joint_space_planner_creator.cpp joint_space_planner/src/joint_space_planner_creator.cpp
joint_space_planner/src/toppra_bspline.cpp joint_space_planner/src/toppra_bspline.cpp
s_curve_planner/src/s_curve_position_planner.cpp
s_curve_planner/src/s_curve_velocity_planner.cpp
cartesian_space_planner/src/cartesian_twist_limiter.cpp
) )
target_include_directories(planner PUBLIC ${CMAKE_CURRENT_SOURCE_DIR}) target_include_directories(planner PUBLIC ${CMAKE_CURRENT_SOURCE_DIR})
@ -12,6 +17,7 @@ target_link_libraries(planner PUBLIC
tinyxml2 tinyxml2
fcl fcl
toppra toppra
cmvr_es::common
) )
add_library(cmvr_es::planner ALIAS planner) add_library(cmvr_es::planner ALIAS planner)
@ -46,4 +52,17 @@ target_link_libraries(joint_space_planner_test
) )
add_executable(cartesian_twist_limiter_test
${CMAKE_CURRENT_SOURCE_DIR}/cartesian_space_planner/src/cartesian_twist_limiter_test.cpp
)
target_link_libraries(cartesian_twist_limiter_test
PRIVATE
cmvr_es::planner
gtest
gtest_main
pthread
glog
cmvr_es::proto
matplot
)

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cmvr-es/planner/cartesian_space_planner/include/cartesian_twist_limiter.h Normal file
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@ -0,0 +1,242 @@
#pragma once
#include <Eigen/Core>
#include <Eigen/Geometry>
#include "planner/s_curve_planner/include/s_curve_velocity_planner.h"
namespace cmvr
{
enum class CartesianFrame
{
Base = 0,
Tool = 1
};
/**
* @brief 6维末端 twist 在线限幅器（基于 SCurveVelocityPlanner1D）
*
* 线速度部分：
* - 模长使用 SCurveVelocityPlanner1D 做 jerk-limited 速度规划
* - 运动中锁定当前方向，不做方向插值
* - 若目标方向与当前方向不共线，则采用“先减速到0，再切方向”的 switch policy
*
* 角速度部分：
* - 与线速度独立
* - 模长使用 SCurveVelocityPlanner1D 做 jerk-limited 速度规划
* - 运动中锁定当前旋转轴，不做方向插值
*
* 接口语义：
* - setTargetTwist(...)：设置目标 twist
* - synchronizeToMeasuredTwistBase(...)：用测量 twist 同步当前状态
* - update(dt, base_R_tool)：根据当前目标与当前状态生成下一拍命令 twist
*/
class CartesianTwistLimiter
{
public:
using Twist = Eigen::Matrix<double, 6, 1>;
CartesianTwistLimiter();
void setLinearConstraints(double max_velocity,
double max_acceleration,
double max_jerk);
void setAngularConstraints(double max_velocity,
double max_acceleration,
double max_jerk);
void setLinearTargetReplanThreshold(double threshold);
void setAngularTargetReplanThreshold(double threshold);
/**
* @brief 设置线速度方向最大转动角速度（rad/s）
*/
void setLinearDirectionRateLimit(double max_rate_rad_s);
/**
* @brief 设置角速度方向最大转动角速度（rad/s）
*/
void setAngularDirectionRateLimit(double max_rate_rad_s);
/**
* @brief 设置线速度反向切换策略
*
* @param cos_threshold 近反向判定阈值，范围 [-1, 1]
* @param switch_speed_threshold 线速度模长低于该阈值后，允许切到目标方向
*/
void setLinearReverseSwitchPolicy(double cos_threshold,
double switch_speed_threshold);
/**
* @brief 初始化当前 twist 状态
*
* 注意：
* - 初始 twist 视为 base 坐标系下
*/
void initialize(const Twist& initial_twist = Twist::Zero());
void reset();
/**
* @brief 设置目标 twist
*
* @param target_twist 目标 twist
* @param frame 输入目标的坐标系（Base 或 Tool）
*/
void setTargetTwist(const Twist& target_twist, CartesianFrame frame);
/**
* @brief 平滑停下
*/
void stop();
/**
* @brief 急停
*
* 使用更大的减速度/jerk 约束把当前线速度/角速度平滑拉回 0。
* 当前运动停止后，会自动恢复到常规约束。
*
* @param emergency_acceleration 急停减速度幅值
* @param emergency_jerk 急停 jerk 幅值
*/
void emergencyStop(double emergency_acceleration,
double emergency_jerk);
/**
* @brief 急停（分别指定线速度/角速度减速度与 jerk）
*
* @param emergency_linear_acceleration 线速度急停减速度幅值
* @param emergency_linear_jerk 线速度急停 jerk 幅值
* @param emergency_angular_acceleration 角速度急停减速度幅值
* @param emergency_angular_jerk 角速度急停 jerk 幅值
*/
void emergencyStop(double emergency_linear_acceleration,
double emergency_linear_jerk,
double emergency_angular_acceleration,
double emergency_angular_jerk);
/**
* @brief 用测得的 base-frame twist 同步当前状态
*
* 作用：
* - 更新当前执行方向
* - 用测得模长与模长加速度同步两个 planner
* - keep_target=true 时：
* - 若测量状态仍贴着当前 profile，则保持当前 profile
* - 否则由 planner 内部从测量状态重规划到当前目标
* - keep_target=false 时：
* - 清掉旧 profile，仅覆盖状态
*
* @param measured_twist_base 当前测得实际 twist（base 系）
* @param dt 与上一次测量同步的时间间隔
* @param keep_target 是否保留当前目标模长
*/
void synchronize(const Twist& measured_twist_base,
double dt,
bool keep_target = true);
/**
* @brief 更新一步，返回 base 坐标系下的执行 twist 命令
*/
Twist update(double dt, const Eigen::Matrix3d& base_R_tool);
const Twist& getTwistBase() const { return twist_base_; }
const Twist& getCommandedTwistBase() const { return twist_base_; }
const Twist& getTargetTwistBase() const { return target_twist_base_; }
const Twist& getAccelerationBase() const { return acceleration_base_; }
const Twist& getJerkBase() const { return jerk_base_; }
bool isMoving() const;
private:
static constexpr double EPSILON = 1e-12;
static constexpr double DEFAULT_LINEAR_DIR_RATE_LIMIT = 3.14159265358979323846; // 180 deg/s
static constexpr double DEFAULT_ANGULAR_DIR_RATE_LIMIT = 3.14159265358979323846; // 180 deg/s
static constexpr double DEFAULT_LINEAR_REVERSE_COS_THRESHOLD = -0.8660254037844386; // cos(150 deg)
static constexpr double DEFAULT_LINEAR_REVERSE_SWITCH_SPEED_THRESHOLD = 1e-3;
static constexpr double AXIS_LOCK_COS_THRESHOLD = 0.999;
static constexpr double DEFAULT_ANGULAR_SWITCH_SPEED_THRESHOLD = 1e-3;
// 模长 planner
SCurveVelocityPlanner1D linear_norm_planner_;
SCurveVelocityPlanner1D angular_norm_planner_;
// 常规约束缓存。急停结束后恢复到这里。
double linear_max_velocity_;
double linear_max_acceleration_;
double linear_max_jerk_;
double angular_max_velocity_;
double angular_max_acceleration_;
double angular_max_jerk_;
// 方向变化率限制（rad/s）
double linear_direction_rate_limit_;
double angular_direction_rate_limit_;
// 线速度 reverse policy
double linear_reverse_cos_threshold_;
double linear_reverse_switch_speed_threshold_;
double angular_switch_speed_threshold_;
bool emergency_stop_active_;
// 目标/当前状态
Twist target_twist_input_;
Twist target_twist_base_;
Twist twist_base_;
Twist acceleration_base_;
Twist jerk_base_;
Twist prev_twist_base_;
Twist prev_acceleration_base_;
CartesianFrame input_frame_;
// 当前执行方向
Eigen::Vector3d current_linear_dir_base_;
Eigen::Vector3d current_angular_dir_base_;
// 最近一次非零目标方向（目标变0时用于平滑停下）
Eigen::Vector3d last_target_linear_dir_base_;
Eigen::Vector3d last_target_angular_dir_base_;
// 测量同步用缓存
bool has_measured_sync_;
Twist last_measured_twist_base_;
Twist last_measured_acceleration_base_;
double prev_measured_linear_norm_;
double prev_measured_angular_norm_;
static Twist transformTwistToolToBase(const Twist& twist_tool,
const Eigen::Matrix3d& base_R_tool);
static Eigen::Vector3d chooseDirection(const Eigen::Vector3d& target_vec,
const Eigen::Vector3d& fallback);
static Eigen::Vector3d rotateDirectionToward(const Eigen::Vector3d& current_dir,
const Eigen::Vector3d& target_dir,
double max_rate_rad_s,
double dt);
static Eigen::Vector3d rotateAroundAxis(const Eigen::Vector3d& v,
const Eigen::Vector3d& axis_unit,
double angle_rad);
static Eigen::Vector3d chooseOrthogonalUnit(const Eigen::Vector3d& v);
void applyLinearConstraints(double max_velocity,
double max_acceleration,
double max_jerk);
void applyAngularConstraints(double max_velocity,
double max_acceleration,
double max_jerk);
void restoreNominalConstraints();
static bool isZeroTwist(const Twist& twist);
static double clamp(double value, double lo, double hi)
{
return std::max(lo, std::min(hi, value));
}
};
} // namespace cmvr

537
cmvr-es/planner/cartesian_space_planner/src/cartesian_twist_limiter.cpp Normal file
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@ -0,0 +1,537 @@
#include "../include/cartesian_twist_limiter.h"
#include <algorithm>
#include <cmath>
namespace cmvr
{
CartesianTwistLimiter::CartesianTwistLimiter()
: linear_norm_planner_(1.0, 1.0, 5.0)
, angular_norm_planner_(1.0, 1.0, 5.0)
, linear_max_velocity_(1.0)
, linear_max_acceleration_(1.0)
, linear_max_jerk_(5.0)
, angular_max_velocity_(1.0)
, angular_max_acceleration_(1.0)
, angular_max_jerk_(5.0)
, linear_direction_rate_limit_(DEFAULT_LINEAR_DIR_RATE_LIMIT)
, angular_direction_rate_limit_(DEFAULT_ANGULAR_DIR_RATE_LIMIT)
, linear_reverse_cos_threshold_(DEFAULT_LINEAR_REVERSE_COS_THRESHOLD)
, linear_reverse_switch_speed_threshold_(DEFAULT_LINEAR_REVERSE_SWITCH_SPEED_THRESHOLD)
, angular_switch_speed_threshold_(DEFAULT_ANGULAR_SWITCH_SPEED_THRESHOLD)
, emergency_stop_active_(false)
, target_twist_input_(Twist::Zero())
, target_twist_base_(Twist::Zero())
, twist_base_(Twist::Zero())
, acceleration_base_(Twist::Zero())
, jerk_base_(Twist::Zero())
, prev_twist_base_(Twist::Zero())
, prev_acceleration_base_(Twist::Zero())
, input_frame_(CartesianFrame::Base)
, current_linear_dir_base_(Eigen::Vector3d::Zero())
, current_angular_dir_base_(Eigen::Vector3d::Zero())
, last_target_linear_dir_base_(Eigen::Vector3d::Zero())
, last_target_angular_dir_base_(Eigen::Vector3d::Zero())
, has_measured_sync_(false)
, last_measured_twist_base_(Twist::Zero())
, last_measured_acceleration_base_(Twist::Zero())
, prev_measured_linear_norm_(0.0)
, prev_measured_angular_norm_(0.0)
{
}
void CartesianTwistLimiter::applyLinearConstraints(double max_velocity,
double max_acceleration,
double max_jerk)
{
linear_norm_planner_.setConstraints(max_velocity, max_acceleration, max_jerk);
}
void CartesianTwistLimiter::applyAngularConstraints(double max_velocity,
double max_acceleration,
double max_jerk)
{
angular_norm_planner_.setConstraints(max_velocity, max_acceleration, max_jerk);
}
void CartesianTwistLimiter::setLinearConstraints(double max_velocity,
double max_acceleration,
double max_jerk)
{
linear_max_velocity_ = std::abs(max_velocity);
linear_max_acceleration_ = std::abs(max_acceleration);
linear_max_jerk_ = std::abs(max_jerk);
if (!emergency_stop_active_) {
applyLinearConstraints(linear_max_velocity_, linear_max_acceleration_, linear_max_jerk_);
}
}
void CartesianTwistLimiter::setAngularConstraints(double max_velocity,
double max_acceleration,
double max_jerk)
{
angular_max_velocity_ = std::abs(max_velocity);
angular_max_acceleration_ = std::abs(max_acceleration);
angular_max_jerk_ = std::abs(max_jerk);
if (!emergency_stop_active_) {
applyAngularConstraints(angular_max_velocity_, angular_max_acceleration_, angular_max_jerk_);
}
}
void CartesianTwistLimiter::setLinearTargetReplanThreshold(double threshold)
{
linear_norm_planner_.setTargetReplanThreshold(threshold);
}
void CartesianTwistLimiter::setAngularTargetReplanThreshold(double threshold)
{
angular_norm_planner_.setTargetReplanThreshold(threshold);
}
void CartesianTwistLimiter::setLinearDirectionRateLimit(double max_rate_rad_s)
{
linear_direction_rate_limit_ = std::max(0.0, max_rate_rad_s);
}
void CartesianTwistLimiter::setAngularDirectionRateLimit(double max_rate_rad_s)
{
angular_direction_rate_limit_ = std::max(0.0, max_rate_rad_s);
}
void CartesianTwistLimiter::setLinearReverseSwitchPolicy(double cos_threshold,
double switch_speed_threshold)
{
linear_reverse_cos_threshold_ = clamp(cos_threshold, -1.0, 1.0);
linear_reverse_switch_speed_threshold_ = std::max(0.0, switch_speed_threshold);
}
void CartesianTwistLimiter::initialize(const Twist& initial_twist)
{
restoreNominalConstraints();
emergency_stop_active_ = false;
const Eigen::Vector3d v0 = initial_twist.head<3>();
const Eigen::Vector3d w0 = initial_twist.tail<3>();
const double v0_norm = v0.norm();
const double w0_norm = w0.norm();
linear_norm_planner_.initialize(v0_norm, 0.0);
angular_norm_planner_.initialize(w0_norm, 0.0);
target_twist_input_ = initial_twist;
target_twist_base_ = initial_twist;
twist_base_ = initial_twist;
acceleration_base_.setZero();
jerk_base_.setZero();
prev_twist_base_ = initial_twist;
prev_acceleration_base_.setZero();
// current_linear_dir_base_ =
// (v0_norm > EPSILON) ? (v0 / v0_norm) : Eigen::Vector3d::Zero();
// current_angular_dir_base_ =
// (w0_norm > EPSILON) ? (w0 / w0_norm) : Eigen::Vector3d::Zero();
current_linear_dir_base_.setZero();
current_angular_dir_base_.setZero();
if (v0_norm > EPSILON) {
current_linear_dir_base_ = v0 / v0_norm;
} else {
}
if (w0_norm > EPSILON) {
current_angular_dir_base_ = w0 / w0_norm;
} else {
}
last_target_linear_dir_base_ = current_linear_dir_base_;
last_target_angular_dir_base_ = current_angular_dir_base_;
has_measured_sync_ = false;
last_measured_twist_base_ = initial_twist;
last_measured_acceleration_base_.setZero();
prev_measured_linear_norm_ = v0_norm;
prev_measured_angular_norm_ = w0_norm;
}
void CartesianTwistLimiter::reset()
{
restoreNominalConstraints();
emergency_stop_active_ = false;
linear_norm_planner_.reset();
angular_norm_planner_.reset();
target_twist_input_.setZero();
target_twist_base_.setZero();
twist_base_.setZero();
acceleration_base_.setZero();
jerk_base_.setZero();
prev_twist_base_.setZero();
prev_acceleration_base_.setZero();
input_frame_ = CartesianFrame::Base;
current_linear_dir_base_.setZero();
current_angular_dir_base_.setZero();
last_target_linear_dir_base_.setZero();
last_target_angular_dir_base_.setZero();
has_measured_sync_ = false;
last_measured_twist_base_.setZero();
last_measured_acceleration_base_.setZero();
prev_measured_linear_norm_ = 0.0;
prev_measured_angular_norm_ = 0.0;
}
void CartesianTwistLimiter::setTargetTwist(const Twist& target_twist, CartesianFrame frame)
{
if (emergency_stop_active_ && !isZeroTwist(target_twist)) {
restoreNominalConstraints();
emergency_stop_active_ = false;
}
target_twist_input_ = target_twist;
input_frame_ = frame;
}
void CartesianTwistLimiter::stop()
{
target_twist_input_.setZero();
}
void CartesianTwistLimiter::emergencyStop(double emergency_acceleration,
double emergency_jerk)
{
emergencyStop(emergency_acceleration,
emergency_jerk,
emergency_acceleration,
emergency_jerk);
}
void CartesianTwistLimiter::emergencyStop(double emergency_linear_acceleration,
double emergency_linear_jerk,
double emergency_angular_acceleration,
double emergency_angular_jerk)
{
const double linear_stop_acceleration =
std::max(std::abs(emergency_linear_acceleration), linear_max_acceleration_);
const double linear_stop_jerk =
std::max(std::abs(emergency_linear_jerk), linear_max_jerk_);
const double angular_stop_acceleration =
std::max(std::abs(emergency_angular_acceleration), angular_max_acceleration_);
const double angular_stop_jerk =
std::max(std::abs(emergency_angular_jerk), angular_max_jerk_);
applyLinearConstraints(linear_max_velocity_, linear_stop_acceleration, linear_stop_jerk);
applyAngularConstraints(angular_max_velocity_, angular_stop_acceleration, angular_stop_jerk);
emergency_stop_active_ = true;
target_twist_input_.setZero();
target_twist_base_.setZero();
linear_norm_planner_.setTargetVelocity(0.0);
angular_norm_planner_.setTargetVelocity(0.0);
}
void CartesianTwistLimiter::synchronize(const Twist& measured_twist_base,
double dt,
bool keep_target)
{
const Eigen::Vector3d v_meas = measured_twist_base.head<3>();
const Eigen::Vector3d w_meas = measured_twist_base.tail<3>();
const double v_norm = v_meas.norm();
const double w_norm = w_meas.norm();
double v_acc = 0.0;
double w_acc = 0.0;
if (dt > EPSILON && has_measured_sync_) {
v_acc = (v_norm - prev_measured_linear_norm_) / dt;
w_acc = (w_norm - prev_measured_angular_norm_) / dt;
acceleration_base_ = (measured_twist_base - last_measured_twist_base_) / dt;
jerk_base_ = (acceleration_base_ - last_measured_acceleration_base_) / dt;
last_measured_acceleration_base_ = acceleration_base_;
} else {
acceleration_base_.setZero();
jerk_base_.setZero();
last_measured_acceleration_base_.setZero();
}
prev_measured_linear_norm_ = v_norm;
prev_measured_angular_norm_ = w_norm;
last_measured_twist_base_ = measured_twist_base;
has_measured_sync_ = true;
// 用测得模长/模长加速度同步 planner 当前状态。
// keep_target=true:
// - 若测量值仍贴着当前 profile，则继续沿旧 profile 走
// - 否则从测量状态重规划到当前目标
// keep_target=false:
// - 仅覆盖状态并清掉旧 profile，不保留当前目标
if (keep_target) {
linear_norm_planner_.synchronizeAndReplan(v_norm, v_acc);
angular_norm_planner_.synchronizeAndReplan(w_norm, w_acc);
} else {
linear_norm_planner_.overwriteState(v_norm, v_acc, false);
angular_norm_planner_.overwriteState(w_norm, w_acc, false);
target_twist_input_.setZero();
target_twist_base_.setZero();
}
if (v_norm > EPSILON) {
current_linear_dir_base_ = v_meas / v_norm;
last_target_linear_dir_base_ = current_linear_dir_base_;
}
if (w_norm > EPSILON) {
current_angular_dir_base_ = w_meas / w_norm;
last_target_angular_dir_base_ = current_angular_dir_base_;
}
twist_base_ = measured_twist_base;
prev_twist_base_ = measured_twist_base;
prev_acceleration_base_ = acceleration_base_;
}
CartesianTwistLimiter::Twist
CartesianTwistLimiter::transformTwistToolToBase(const Twist& twist_tool,
const Eigen::Matrix3d& base_R_tool)
{
Twist twist_base;
twist_base.head<3>() = base_R_tool * twist_tool.head<3>();
twist_base.tail<3>() = base_R_tool * twist_tool.tail<3>();
return twist_base;
}
Eigen::Vector3d CartesianTwistLimiter::chooseDirection(const Eigen::Vector3d& target_vec,
const Eigen::Vector3d& fallback)
{
const double n = target_vec.norm();
if (n > EPSILON) {
return target_vec / n;
}
return fallback;
}
Eigen::Vector3d CartesianTwistLimiter::rotateAroundAxis(const Eigen::Vector3d& v,
const Eigen::Vector3d& axis_unit,
double angle_rad)
{
const double c = std::cos(angle_rad);
const double s = std::sin(angle_rad);
return c * v + s * (axis_unit.cross(v)) + (1.0 - c) * axis_unit.dot(v) * axis_unit;
}
Eigen::Vector3d CartesianTwistLimiter::chooseOrthogonalUnit(const Eigen::Vector3d& v)
{
Eigen::Vector3d ref;
if (std::abs(v.x()) < 0.8) {
ref = Eigen::Vector3d::UnitX();
} else if (std::abs(v.y()) < 0.8) {
ref = Eigen::Vector3d::UnitY();
} else {
ref = Eigen::Vector3d::UnitZ();
}
Eigen::Vector3d ortho = ref - ref.dot(v) * v;
const double n = ortho.norm();
if (n > EPSILON) {
return ortho / n;
}
return Eigen::Vector3d::UnitX();
}
void CartesianTwistLimiter::restoreNominalConstraints()
{
applyLinearConstraints(linear_max_velocity_, linear_max_acceleration_, linear_max_jerk_);
applyAngularConstraints(angular_max_velocity_, angular_max_acceleration_, angular_max_jerk_);
}
bool CartesianTwistLimiter::isZeroTwist(const Twist& twist)
{
return twist.head<3>().squaredNorm() <= EPSILON && twist.tail<3>().squaredNorm() <= EPSILON;
}
Eigen::Vector3d CartesianTwistLimiter::rotateDirectionToward(const Eigen::Vector3d& current_dir,
const Eigen::Vector3d& target_dir,
double max_rate_rad_s,
double dt)
{
if (dt <= 0.0) {
return current_dir;
}
const double cur_n = current_dir.norm();
const double tgt_n = target_dir.norm();
if (tgt_n <= EPSILON) {
return current_dir;
}
if (cur_n <= EPSILON) {
return target_dir;
}
const Eigen::Vector3d u = current_dir / cur_n;
const Eigen::Vector3d v = target_dir / tgt_n;
const double dot_uv = clamp(u.dot(v), -1.0, 1.0);
const double angle = std::acos(dot_uv);
if (angle <= 1e-9) {
return v;
}
const double max_step = std::max(0.0, max_rate_rad_s) * dt;
if (max_step <= 0.0) {
return u;
}
if (angle <= max_step) {
return v;
}
Eigen::Vector3d axis = u.cross(v);
const double axis_n = axis.norm();
if (axis_n > EPSILON) {
axis /= axis_n;
return rotateAroundAxis(u, axis, max_step).normalized();
}
if (dot_uv > 0.0) {
return v;
}
const Eigen::Vector3d ortho_axis = chooseOrthogonalUnit(u);
return rotateAroundAxis(u, ortho_axis, max_step).normalized();
}
CartesianTwistLimiter::Twist
CartesianTwistLimiter::update(double dt, const Eigen::Matrix3d& base_R_tool)
{
if (emergency_stop_active_ && isZeroTwist(target_twist_input_) &&
!linear_norm_planner_.isMoving() && !angular_norm_planner_.isMoving()) {
restoreNominalConstraints();
emergency_stop_active_ = false;
}
if (input_frame_ == CartesianFrame::Base) {
target_twist_base_ = target_twist_input_;
} else {
target_twist_base_ = transformTwistToolToBase(target_twist_input_, base_R_tool);
}
// ==================== 线速度：方向锁定 + 标量 planner ====================
const Eigen::Vector3d v_des = target_twist_base_.head<3>();
const double v_des_norm = v_des.norm();
const Eigen::Vector3d v_target_dir =
chooseDirection(v_des,
current_linear_dir_base_.norm() > EPSILON
? current_linear_dir_base_
: last_target_linear_dir_base_);
if (v_des_norm > EPSILON) {
last_target_linear_dir_base_ = v_target_dir;
}
const double v_cur_norm = linear_norm_planner_.getVelocity();
const bool has_current_linear_dir = current_linear_dir_base_.norm() > EPSILON;
if (!has_current_linear_dir) {
if (v_des_norm > EPSILON) {
current_linear_dir_base_ = v_target_dir;
linear_norm_planner_.setTargetVelocity(v_des_norm);
} else {
linear_norm_planner_.setTargetVelocity(0.0);
}
} else if (v_des_norm <= EPSILON) {
linear_norm_planner_.setTargetVelocity(0.0);
} else {
const double dir_dot =
clamp(current_linear_dir_base_.dot(v_target_dir), -1.0, 1.0);
const bool axis_aligned = dir_dot >= AXIS_LOCK_COS_THRESHOLD;
const bool reverse_aligned = dir_dot <= -AXIS_LOCK_COS_THRESHOLD;
const bool same_axis = axis_aligned || reverse_aligned;
const bool must_switch_axis =
!same_axis || dir_dot < linear_reverse_cos_threshold_;
if (must_switch_axis && v_cur_norm > linear_reverse_switch_speed_threshold_) {
linear_norm_planner_.setTargetVelocity(0.0);
} else {
current_linear_dir_base_ = v_target_dir;
linear_norm_planner_.setTargetVelocity(v_des_norm);
}
}
const double v_exec_norm = linear_norm_planner_.update(dt);
twist_base_.head<3>() = current_linear_dir_base_ * v_exec_norm;
// ==================== 角速度：方向锁定 + 标量 planner ====================
const Eigen::Vector3d w_des = target_twist_base_.tail<3>();
const double w_des_norm = w_des.norm();
const Eigen::Vector3d w_target_dir =
chooseDirection(w_des,
current_angular_dir_base_.norm() > EPSILON
? current_angular_dir_base_
: last_target_angular_dir_base_);
if (w_des_norm > EPSILON) {
last_target_angular_dir_base_ = w_target_dir;
}
const double w_cur_norm = angular_norm_planner_.getVelocity();
const bool has_current_angular_dir = current_angular_dir_base_.norm() > EPSILON;
if (!has_current_angular_dir) {
if (w_des_norm > EPSILON) {
current_angular_dir_base_ = w_target_dir;
angular_norm_planner_.setTargetVelocity(w_des_norm);
} else {
angular_norm_planner_.setTargetVelocity(0.0);
}
} else if (w_des_norm <= EPSILON) {
angular_norm_planner_.setTargetVelocity(0.0);
} else {
const double dir_dot =
clamp(current_angular_dir_base_.dot(w_target_dir), -1.0, 1.0);
const bool axis_aligned = dir_dot >= AXIS_LOCK_COS_THRESHOLD;
const bool reverse_aligned = dir_dot <= -AXIS_LOCK_COS_THRESHOLD;
const bool same_axis = axis_aligned || reverse_aligned;
// 角速度与线速度一致：反向同轴也必须先减速到 0，再切方向。
const bool must_switch_axis = !same_axis || reverse_aligned;
if (must_switch_axis && w_cur_norm > angular_switch_speed_threshold_) {
angular_norm_planner_.setTargetVelocity(0.0);
} else {
current_angular_dir_base_ = w_target_dir;
angular_norm_planner_.setTargetVelocity(w_des_norm);
}
}
const double w_exec_norm = angular_norm_planner_.update(dt);
twist_base_.tail<3>() = current_angular_dir_base_ * w_exec_norm;
// ==================== 对最终 twist 做差分得到 acc / jerk ====================
if (dt > EPSILON) {
acceleration_base_ = (twist_base_ - prev_twist_base_) / dt;
jerk_base_ = (acceleration_base_ - prev_acceleration_base_) / dt;
} else {
acceleration_base_.setZero();
jerk_base_.setZero();
}
prev_twist_base_ = twist_base_;
prev_acceleration_base_ = acceleration_base_;
return twist_base_;
}
bool CartesianTwistLimiter::isMoving() const
{
return linear_norm_planner_.isMoving() || angular_norm_planner_.isMoving();
}
} // namespace cmvr

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//
// Created by lgv on 2026/3/10.
//
#include "gtest/gtest.h"
#include <Eigen/Core>
#include <matplot/matplot.h>
#include "planner/cartesian_space_planner/include/cartesian_twist_limiter.h"
namespace cmvr
{
namespace
{
using Twist = CartesianTwistLimiter::Twist;
constexpr double kDt = 0.01;
constexpr double kComponentEps = 1e-8;
constexpr double kDirectionEps = 1e-6;
constexpr double kSwitchSpeedUpperBound = 0.05;
Twist makeTwist(double vx, double vy, double vz, double wx, double wy, double wz)
{
Twist twist = Twist::Zero();
twist << vx, vy, vz, wx, wy, wz;
return twist;
}
Eigen::Vector3d normalizedOrZero(const Eigen::Vector3d& value)
{
const double norm = value.norm();
if (norm <= kComponentEps) {
return Eigen::Vector3d::Zero();
}
return value / norm;
}
CartesianTwistLimiter makeLimiter()
{
CartesianTwistLimiter limiter;
limiter.setLinearConstraints(1.0, 1.0, 5.0);
limiter.setAngularConstraints(1.0, 1.0, 5.0);
limiter.initialize();
return limiter;
}
Twist linearTargetAtTime(double t)
{
if (t < 1.0) {
return makeTwist(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
}
if (t < 3.5) {
return makeTwist(0.8, 0.0, 0.0, 0.0, 0.0, 0.0);
}
if (t < 6.0) {
return makeTwist(-0.8, 0.6, 0.2, 0.0, 0.0, 0.0);
}
if (t < 8.5) {
return makeTwist(-0.7, 0.0, 0.0, 0.0, 0.0, 0.0);
}
return makeTwist(-0.7, 0.0, 0.0, 0.0, 0.0, 0.0);
}
Twist angularTargetAtTime(double t)
{
if (t < 1.0) {
return makeTwist(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
}
if (t < 3.5) {
return makeTwist(0.0, 0.0, 0.0, 0.8, 0.0, 0.0);
}
if (t < 6.0) {
return makeTwist(0.0, 0.0, 0.0, -0.8, 0, 0);
}
if (t < 8.5) {
return makeTwist(0.0, 0.0, 0.0, -0.6, 0.0, 0.0);
}
return makeTwist(0.0, 0.0, 0.0, -0.6, 0.0, 0.0);
}
Twist synchronizeTargetAtTime(double t)
{
if (t < 1.0) {
return makeTwist(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
}
if (t < 3.5) {
return makeTwist(0.8, 0.0, 0.0, 0.0, 0.0, 0.0);
}
if (t < 6.0) {
return makeTwist(0.0, 0.7, 0.0, 0.0, 0.0, 0.0);
}
if (t < 8.0) {
return makeTwist(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
}
return makeTwist(-0.6, 0.0, 0.0, 0.0, 0.0, 0.0);
}
} // namespace
TEST(CARTESIAN_TWIST_LIMITER_TEST, LinearDirectionRemainsLockedForFixedTarget)
{
CartesianTwistLimiter limiter = makeLimiter();
const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity();
const Eigen::Vector3d expected_dir = normalizedOrZero(Eigen::Vector3d(0.8, 0.6, 0.0));
limiter.setTargetTwist(makeTwist(0.8, 0.6, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base);
double max_speed = 0.0;
for (int i = 0; i < 400; ++i) {
const Twist twist = limiter.update(kDt, base_R_tool);
const Eigen::Vector3d linear = twist.head<3>();
max_speed = std::max(max_speed, linear.norm());
if (linear.norm() > kComponentEps) {
const Eigen::Vector3d dir = linear.normalized();
EXPECT_LT(dir.cross(expected_dir).norm(), kDirectionEps) << "step=" << i;
}
}
EXPECT_GT(max_speed, 0.5);
}
TEST(CARTESIAN_TWIST_LIMITER_TEST, LinearReverseStopsBeforeSwitchingDirection)
{
CartesianTwistLimiter limiter = makeLimiter();
const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity();
limiter.setTargetTwist(makeTwist(0.8, 0.0, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base);
double speed_before_switch = 0.0;
for (int i = 0; i < 200; ++i) {
const Twist twist = limiter.update(kDt, base_R_tool);
if (twist.head<3>().norm() > 0.2) {
speed_before_switch = twist.head<3>().norm();
break;
}
}
ASSERT_GT(speed_before_switch, 0.2);
limiter.setTargetTwist(makeTwist(-0.8, 0.0, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base);
bool negative_x_seen = false;
double speed_when_negative_x_appears = 0.0;
for (int i = 0; i < 500; ++i) {
const Twist twist = limiter.update(kDt, base_R_tool);
EXPECT_NEAR(twist.y(), 0.0, kComponentEps);
EXPECT_NEAR(twist.z(), 0.0, kComponentEps);
if (!negative_x_seen && twist.x() < -kComponentEps) {
negative_x_seen = true;
speed_when_negative_x_appears = twist.head<3>().norm();
break;
}
if (!negative_x_seen) {
EXPECT_GE(twist.x(), -kComponentEps);
}
}
ASSERT_TRUE(negative_x_seen);
EXPECT_LT(speed_when_negative_x_appears, kSwitchSpeedUpperBound);
}
TEST(CARTESIAN_TWIST_LIMITER_TEST, LinearNonCollinearSwitchStopsBeforeChangingAxis)
{
CartesianTwistLimiter limiter = makeLimiter();
const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity();
limiter.setTargetTwist(makeTwist(0.8, 0.0, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base);
for (int i = 0; i < 200; ++i) {
if (limiter.update(kDt, base_R_tool).head<3>().norm() > 0.2) {
break;
}
}
limiter.setTargetTwist(makeTwist(0.0, 0.8, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base);
bool y_seen = false;
double speed_when_y_appears = 0.0;
for (int i = 0; i < 500; ++i) {
const Twist twist = limiter.update(kDt, base_R_tool);
EXPECT_NEAR(twist.z(), 0.0, kComponentEps);
if (!y_seen && std::abs(twist.y()) > kComponentEps) {
y_seen = true;
speed_when_y_appears = twist.head<3>().norm();
break;
}
if (!y_seen) {
EXPECT_NEAR(twist.y(), 0.0, kComponentEps);
EXPECT_GE(twist.x(), -kComponentEps);
}
}
ASSERT_TRUE(y_seen);
EXPECT_LT(speed_when_y_appears, kSwitchSpeedUpperBound);
}
TEST(CARTESIAN_TWIST_LIMITER_TEST, AngularNonCollinearSwitchStopsBeforeChangingAxis)
{
CartesianTwistLimiter limiter = makeLimiter();
const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity();
limiter.setTargetTwist(makeTwist(0.0, 0.0, 0.0, 0.8, 0.0, 0.0), CartesianFrame::Base);
for (int i = 0; i < 200; ++i) {
if (limiter.update(kDt, base_R_tool).tail<3>().norm() > 0.2) {
break;
}
}
limiter.setTargetTwist(makeTwist(0.0, 0.0, 0.0, 0.0, 0.0, 0.8), CartesianFrame::Base);
bool z_seen = false;
double speed_when_z_appears = 0.0;
for (int i = 0; i < 500; ++i) {
const Twist twist = limiter.update(kDt, base_R_tool);
EXPECT_NEAR(twist(4), 0.0, kComponentEps);
if (!z_seen && std::abs(twist(5)) > kComponentEps) {
z_seen = true;
speed_when_z_appears = twist.tail<3>().norm();
break;
}
if (!z_seen) {
EXPECT_NEAR(twist(5), 0.0, kComponentEps);
EXPECT_GE(twist(3), -kComponentEps);
}
}
ASSERT_TRUE(z_seen);
EXPECT_LT(speed_when_z_appears, kSwitchSpeedUpperBound);
}
TEST(CARTESIAN_TWIST_LIMITER_TEST, StopKeepsCurrentLinearDirection)
{
CartesianTwistLimiter limiter = makeLimiter();
const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity();
limiter.setTargetTwist(makeTwist(0.8, 0.6, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base);
Eigen::Vector3d moving_dir = Eigen::Vector3d::Zero();
for (int i = 0; i < 300; ++i) {
const Twist twist = limiter.update(kDt, base_R_tool);
if (twist.head<3>().norm() > 0.2) {
moving_dir = twist.head<3>().normalized();
break;
}
}
ASSERT_GT(moving_dir.norm(), 0.5);
limiter.stop();
double final_speed = 0.0;
for (int i = 0; i < 400; ++i) {
const Twist twist = limiter.update(kDt, base_R_tool);
final_speed = twist.head<3>().norm();
if (final_speed > kComponentEps) {
EXPECT_LT(twist.head<3>().normalized().cross(moving_dir).norm(), kDirectionEps)
<< "step=" << i;
}
}
EXPECT_LT(final_speed, 1e-4);
}
TEST(CARTESIAN_TWIST_LIMITER_TEST, SynchronizeWithoutKeepingTargetClearsOldCommand)
{
CartesianTwistLimiter limiter = makeLimiter();
const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity();
limiter.setTargetTwist(makeTwist(0.8, 0.0, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base);
for (int i = 0; i < 80; ++i) {
limiter.update(kDt, base_R_tool);
}
limiter.synchronize(Twist::Zero(), kDt, false);
EXPECT_NEAR(limiter.getTargetTwistBase().norm(), 0.0, kComponentEps);
for (int i = 0; i < 50; ++i) {
const Twist twist = limiter.update(kDt, base_R_tool);
EXPECT_NEAR(twist.norm(), 0.0, kComponentEps) << "step=" << i;
}
EXPECT_FALSE(limiter.isMoving());
}
TEST(CARTESIAN_TWIST_LIMITER_TEST, SynchronizeKeepingTargetContinuesTowardExistingCommand)
{
CartesianTwistLimiter limiter = makeLimiter();
const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity();
limiter.setTargetTwist(makeTwist(0.8, 0.0, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base);
for (int i = 0; i < 120; ++i) {
limiter.update(kDt, base_R_tool);
}
ASSERT_GT(limiter.getTwistBase().x(), 0.2);
const Twist measured_twist = makeTwist(0.15, 0.0, 0.0, 0.0, 0.0, 0.0);
limiter.synchronize(measured_twist, kDt, true);
EXPECT_NEAR(limiter.getTwistBase().x(), 0.15, kComponentEps);
EXPECT_NEAR(limiter.getTwistBase().y(), 0.0, kComponentEps);
EXPECT_NEAR(limiter.getTwistBase().z(), 0.0, kComponentEps);
double max_resumed_speed = measured_twist.x();
for (int i = 0; i < 200; ++i) {
const Twist twist = limiter.update(kDt, base_R_tool);
EXPECT_NEAR(twist.y(), 0.0, kComponentEps);
EXPECT_NEAR(twist.z(), 0.0, kComponentEps);
max_resumed_speed = std::max(max_resumed_speed, twist.head<3>().norm());
if (max_resumed_speed > 0.4) {
break;
}
}
EXPECT_GT(max_resumed_speed, 0.4);
EXPECT_GT(limiter.getTargetTwistBase().x(), 0.7);
}
TEST(CARTESIAN_TWIST_LIMITER_TEST, EmergencyStopStopsFasterThanNormalStopAndAcceptsNewTarget)
{
CartesianTwistLimiter normal_limiter = makeLimiter();
CartesianTwistLimiter emergency_limiter = makeLimiter();
const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity();
const Twist forward_twist = makeTwist(0.8, 0.0, 0.0, 0.0, 0.0, 0.0);
normal_limiter.setTargetTwist(forward_twist, CartesianFrame::Base);
emergency_limiter.setTargetTwist(forward_twist, CartesianFrame::Base);
for (int i = 0; i < 250; ++i) {
normal_limiter.update(kDt, base_R_tool);
emergency_limiter.update(kDt, base_R_tool);
}
const double start_speed = normal_limiter.getTwistBase().head<3>().norm();
ASSERT_GT(start_speed, 0.2);
ASSERT_NEAR(emergency_limiter.getTwistBase().head<3>().norm(), start_speed, 1e-3);
normal_limiter.stop();
emergency_limiter.emergencyStop(3.0, 20.0);
int normal_stop_steps = -1;
int emergency_stop_steps = -1;
for (int i = 0; i < 500; ++i) {
const double normal_speed = normal_limiter.update(kDt, base_R_tool).head<3>().norm();
const double emergency_speed = emergency_limiter.update(kDt, base_R_tool).head<3>().norm();
if (normal_stop_steps < 0 && normal_speed < 1e-3) {
normal_stop_steps = i;
}
if (emergency_stop_steps < 0 && emergency_speed < 1e-3) {
emergency_stop_steps = i;
}
if (normal_stop_steps >= 0 && emergency_stop_steps >= 0) {
break;
}
}
ASSERT_GE(normal_stop_steps, 0);
ASSERT_GE(emergency_stop_steps, 0);
EXPECT_LT(emergency_stop_steps, normal_stop_steps);
const Twist restart_twist = makeTwist(-0.4, 0.0, 0.0, 0.0, 0.0, 0.0);
emergency_limiter.setTargetTwist(restart_twist, CartesianFrame::Base);
double restarted_speed = 0.0;
double restarted_x = 0.0;
for (int i = 0; i < 300; ++i) {
const Twist twist = emergency_limiter.update(kDt, base_R_tool);
restarted_speed = twist.head<3>().norm();
restarted_x = twist.x();
if (restarted_speed > 0.2) {
break;
}
}
EXPECT_GT(restarted_speed, 0.2);
EXPECT_LT(restarted_x, -0.2);
}
TEST(CARTESIAN_TWIST_LIMITER_TEST, PlotLinearVelocityComponentsAndNorm)
{
CartesianTwistLimiter limiter = makeLimiter();
const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity();
std::vector<double> time;
std::vector<double> vx;
std::vector<double> vy;
std::vector<double> vz;
std::vector<double> speed;
std::vector<double> target_speed;
std::vector<double> ax;
std::vector<double> ay;
std::vector<double> az;
std::vector<double> accel;
std::vector<double> jx;
std::vector<double> jy;
std::vector<double> jz;
std::vector<double> jerk;
constexpr double kEmergencyTime = 8.5;
constexpr double kRestartTime = 10.0;
constexpr double kTotalTime = 14.0;
const int steps = static_cast<int>(kTotalTime / kDt);
time.reserve(steps + 1);
vx.reserve(steps + 1);
vy.reserve(steps + 1);
vz.reserve(steps + 1);
speed.reserve(steps + 1);
target_speed.reserve(steps + 1);
ax.reserve(steps + 1);
ay.reserve(steps + 1);
az.reserve(steps + 1);
accel.reserve(steps + 1);
jx.reserve(steps + 1);
jy.reserve(steps + 1);
jz.reserve(steps + 1);
jerk.reserve(steps + 1);
bool emergency_stop_called = false;
bool restart_called = false;
for (int i = 0; i <= steps; ++i) {
const double t = i * kDt;
if (t < kEmergencyTime) {
limiter.setTargetTwist(linearTargetAtTime(t), CartesianFrame::Base);
} else if (!emergency_stop_called) {
limiter.emergencyStop(10.0, 50.0);
emergency_stop_called = true;
} else if (t >= kRestartTime && !restart_called) {
limiter.setTargetTwist(makeTwist(0.0, -0.6, 0.0, 0.0, 0.0, 0.0), CartesianFrame::Base);
restart_called = true;
}
const Twist twist = limiter.update(kDt, base_R_tool);
const Twist target = limiter.getTargetTwistBase();
const Twist acceleration = limiter.getAccelerationBase();
const Twist current_jerk = limiter.getJerkBase();
time.push_back(t);
vx.push_back(twist.x());
vy.push_back(twist.y());
vz.push_back(twist.z());
speed.push_back(twist.head<3>().norm());
target_speed.push_back(target.head<3>().norm());
ax.push_back(acceleration.x());
ay.push_back(acceleration.y());
az.push_back(acceleration.z());
accel.push_back(acceleration.head<3>().norm());
jx.push_back(current_jerk.x());
jy.push_back(current_jerk.y());
jz.push_back(current_jerk.z());
jerk.push_back(current_jerk.head<3>().norm());
}
using namespace matplot;
auto configure_axes = [](const axes_handle& axes) {
axes->line_width(1.5f);
grid(axes, on);
};
auto style_line = [](const auto& line, std::initializer_list<float> color, double width) {
line->line_width(width);
line->color(color);
};
auto fig = figure(true);
fig->size(1600, 1200);
fig->font_size(16);
auto ax_v = subplot(fig, std::array<float, 4>{0.07f, 0.69f, 0.88f, 0.24f});
hold(ax_v, on);
style_line(plot(ax_v, time, vx), {0.86f, 0.16f, 0.16f}, 3.0);
style_line(plot(ax_v, time, vy), {0.16f, 0.47f, 0.80f}, 3.0);
style_line(plot(ax_v, time, vz), {0.12f, 0.62f, 0.42f}, 3.0);
style_line(plot(ax_v, time, speed), {0.10f, 0.10f, 0.10f}, 3.5);
auto line_target_speed = plot(ax_v, time, target_speed);
line_target_speed->line_width(2.5);
line_target_speed->line_style("--");
line_target_speed->color({0.80f, 0.55f, 0.10f});
title(ax_v, "CartesianTwistLimiter Linear Velocity With Emergency Stop And Restart");
xlabel(ax_v, "time [s]");
ylabel(ax_v, "velocity [m/s]");
legend(ax_v, {"vx", "vy", "vz", "speed", "target speed"});
configure_axes(ax_v);
auto ax_a = subplot(fig, std::array<float, 4>{0.07f, 0.38f, 0.88f, 0.24f});
hold(ax_a, on);
style_line(plot(ax_a, time, ax), {0.86f, 0.16f, 0.16f}, 3.0);
style_line(plot(ax_a, time, ay), {0.16f, 0.47f, 0.80f}, 3.0);
style_line(plot(ax_a, time, az), {0.12f, 0.62f, 0.42f}, 3.0);
style_line(plot(ax_a, time, accel), {0.10f, 0.10f, 0.10f}, 3.5);
title(ax_a, "CartesianTwistLimiter Linear Acceleration");
xlabel(ax_a, "time [s]");
ylabel(ax_a, "acceleration [m/s^2]");
legend(ax_a, {"ax", "ay", "az", "acc norm"});
configure_axes(ax_a);
auto ax_j = subplot(fig, std::array<float, 4>{0.07f, 0.07f, 0.88f, 0.24f});
hold(ax_j, on);
style_line(plot(ax_j, time, jx), {0.86f, 0.16f, 0.16f}, 3.0);
style_line(plot(ax_j, time, jy), {0.16f, 0.47f, 0.80f}, 3.0);
style_line(plot(ax_j, time, jz), {0.12f, 0.62f, 0.42f}, 3.0);
style_line(plot(ax_j, time, jerk), {0.10f, 0.10f, 0.10f}, 3.5);
title(ax_j, "CartesianTwistLimiter Linear Jerk");
xlabel(ax_j, "time [s]");
ylabel(ax_j, "jerk [m/s^3]");
legend(ax_j, {"jx", "jy", "jz", "jerk norm"});
configure_axes(ax_j);
show(fig);
cla();
}
TEST(CARTESIAN_TWIST_LIMITER_TEST, PlotAngularVelocityComponentsAndNorm)
{
CartesianTwistLimiter limiter = makeLimiter();
const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity();
std::vector<double> time;
std::vector<double> wx;
std::vector<double> wy;
std::vector<double> wz;
std::vector<double> omega;
std::vector<double> target_omega;
constexpr double kEmergencyTime = 8.5;
constexpr double kRestartTime = 10.0;
constexpr double kTotalTime = 14.0;
const int steps = static_cast<int>(kTotalTime / kDt);
time.reserve(steps + 1);
wx.reserve(steps + 1);
wy.reserve(steps + 1);
wz.reserve(steps + 1);
omega.reserve(steps + 1);
target_omega.reserve(steps + 1);
bool emergency_stop_called = false;
bool restart_called = false;
for (int i = 0; i <= steps; ++i) {
const double t = i * kDt;
if (t < kEmergencyTime) {
limiter.setTargetTwist(angularTargetAtTime(t), CartesianFrame::Base);
} else if (!emergency_stop_called) {
limiter.emergencyStop(10.0, 50.0);
emergency_stop_called = true;
} else if (t >= kRestartTime && !restart_called) {
limiter.setTargetTwist(makeTwist(0.0, 0.0, 0.0, 0.0, 0.0, -0.5), CartesianFrame::Base);
restart_called = true;
}
const Twist twist = limiter.update(kDt, base_R_tool);
const Twist target = limiter.getTargetTwistBase();
time.push_back(t);
wx.push_back(twist(3));
wy.push_back(twist(4));
wz.push_back(twist(5));
omega.push_back(twist.tail<3>().norm());
target_omega.push_back(target.tail<3>().norm());
}
using namespace matplot;
auto configure_axes = [](const axes_handle& axes) {
axes->line_width(1.5f);
grid(axes, on);
};
auto style_line = [](const auto& line, std::initializer_list<float> color, double width) {
line->line_width(width);
line->color(color);
};
auto fig = figure(true);
fig->size(1600, 520);
fig->font_size(16);
auto ax = subplot(fig, std::array<float, 4>{0.07f, 0.14f, 0.88f, 0.74f});
hold(ax, on);
style_line(plot(ax, time, wx), {0.86f, 0.16f, 0.16f}, 3.0);
style_line(plot(ax, time, wy), {0.16f, 0.47f, 0.80f}, 3.0);
style_line(plot(ax, time, wz), {0.12f, 0.62f, 0.42f}, 3.0);
style_line(plot(ax, time, omega), {0.10f, 0.10f, 0.10f}, 3.5);
auto line_target_omega = plot(ax, time, target_omega);
line_target_omega->line_width(2.5);
line_target_omega->line_style("--");
line_target_omega->color({0.80f, 0.55f, 0.10f});
title(ax, "CartesianTwistLimiter Angular Velocity With Emergency Stop And Restart");
xlabel(ax, "time [s]");
ylabel(ax, "angular velocity [rad/s]");
legend(ax, {"wx", "wy", "wz", "omega", "target omega"});
configure_axes(ax);
show(fig);
cla();
}
TEST(CARTESIAN_TWIST_LIMITER_TEST, PlotSynchronizeTrackingWithMeasuredTwist)
{
CartesianTwistLimiter limiter = makeLimiter();
const Eigen::Matrix3d base_R_tool = Eigen::Matrix3d::Identity();
Twist measured_twist = Twist::Zero();
std::vector<double> time;
std::vector<double> target_speed;
std::vector<double> commanded_speed;
std::vector<double> measured_speed;
std::vector<double> commanded_vx;
std::vector<double> commanded_vy;
std::vector<double> measured_vx;
std::vector<double> measured_vy;
std::vector<double> tracking_error;
std::vector<double> acc_norm;
std::vector<double> jerk_norm;
constexpr double kTotalTime = 10.0;
constexpr double kTrackingTau = 0.08;
const double alpha = kDt / (kTrackingTau + kDt);
const int steps = static_cast<int>(kTotalTime / kDt);
time.reserve(steps + 1);
target_speed.reserve(steps + 1);
commanded_speed.reserve(steps + 1);
measured_speed.reserve(steps + 1);
commanded_vx.reserve(steps + 1);
commanded_vy.reserve(steps + 1);
measured_vx.reserve(steps + 1);
measured_vy.reserve(steps + 1);
tracking_error.reserve(steps + 1);
acc_norm.reserve(steps + 1);
jerk_norm.reserve(steps + 1);
for (int i = 0; i <= steps; ++i) {
const double t = i * kDt;
const Twist target = synchronizeTargetAtTime(t);
limiter.synchronize(measured_twist, kDt, true);
limiter.setTargetTwist(target, CartesianFrame::Base);
const Twist commanded = limiter.update(kDt, base_R_tool);
measured_twist += alpha * (commanded - measured_twist);
time.push_back(t);
target_speed.push_back(target.head<3>().norm());
commanded_speed.push_back(commanded.head<3>().norm());
measured_speed.push_back(measured_twist.head<3>().norm());
commanded_vx.push_back(commanded.x());
commanded_vy.push_back(commanded.y());
measured_vx.push_back(measured_twist.x());
measured_vy.push_back(measured_twist.y());
tracking_error.push_back((commanded.head<3>() - measured_twist.head<3>()).norm());
acc_norm.push_back(limiter.getAccelerationBase().head<3>().norm());
jerk_norm.push_back(limiter.getJerkBase().head<3>().norm());
}
using namespace matplot;
auto configure_axes = [](const axes_handle& axes) {
axes->line_width(1.5f);
grid(axes, on);
};
auto style_line = [](const auto& line, std::initializer_list<float> color, double width) {
line->line_width(width);
line->color(color);
};
auto fig = figure(true);
fig->size(1600, 1200);
fig->font_size(16);
auto ax_speed = subplot(fig, std::array<float, 4>{0.07f, 0.69f, 0.88f, 0.24f});
hold(ax_speed, on);
auto line_target = plot(ax_speed, time, target_speed);
line_target->line_width(2.5);
line_target->line_style("--");
line_target->color({0.80f, 0.55f, 0.10f});
style_line(plot(ax_speed, time, commanded_speed), {0.10f, 0.10f, 0.10f}, 3.5);
style_line(plot(ax_speed, time, measured_speed), {0.55f, 0.12f, 0.72f}, 3.0);
title(ax_speed, "Synchronize: target / commanded / measured speed");
xlabel(ax_speed, "time [s]");
ylabel(ax_speed, "speed [m/s]");
legend(ax_speed, {"target speed", "commanded speed", "measured speed"});
configure_axes(ax_speed);
auto ax_components = subplot(fig, std::array<float, 4>{0.07f, 0.38f, 0.88f, 0.24f});
hold(ax_components, on);
style_line(plot(ax_components, time, commanded_vx), {0.86f, 0.16f, 0.16f}, 3.0);
auto line_measured_vx = plot(ax_components, time, measured_vx);
line_measured_vx->line_width(2.5);
line_measured_vx->line_style("--");
line_measured_vx->color({0.86f, 0.16f, 0.16f});
style_line(plot(ax_components, time, commanded_vy), {0.16f, 0.47f, 0.80f}, 3.0);
auto line_measured_vy = plot(ax_components, time, measured_vy);
line_measured_vy->line_width(2.5);
line_measured_vy->line_style("--");
line_measured_vy->color({0.16f, 0.47f, 0.80f});
title(ax_components, "Synchronize: commanded vs measured components");
xlabel(ax_components, "time [s]");
ylabel(ax_components, "velocity [m/s]");
legend(ax_components, {"cmd vx", "meas vx", "cmd vy", "meas vy"});
configure_axes(ax_components);
auto ax_dynamics = subplot(fig, std::array<float, 4>{0.07f, 0.07f, 0.88f, 0.24f});
hold(ax_dynamics, on);
style_line(plot(ax_dynamics, time, tracking_error), {0.10f, 0.10f, 0.10f}, 3.5);
style_line(plot(ax_dynamics, time, acc_norm), {0.12f, 0.62f, 0.42f}, 3.0);
style_line(plot(ax_dynamics, time, jerk_norm), {0.55f, 0.12f, 0.72f}, 3.0);
title(ax_dynamics, "Synchronize: tracking error / acceleration / jerk");
xlabel(ax_dynamics, "time [s]");
ylabel(ax_dynamics, "norm");
legend(ax_dynamics, {"|cmd - meas|", "acc norm", "jerk norm"});
configure_axes(ax_dynamics);
show(fig);
cla();
}
} // namespace cmvr

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//
// Created by lgv on 2026/3/10.
//
#pragma once
#include "s_curve_velocity_planner.h"
#include <algorithm>
#include <cmath>
namespace cmvr
{
struct SCurvePositionPlannerState
{
double position;
double velocity;
double acceleration;
double jerk;
double target_position;
bool is_moving;
SCurvePositionPlannerState()
: position(0.0)
, velocity(0.0)
, acceleration(0.0)
, jerk(0.0)
, target_position(0.0)
, is_moving(false)
{}
};
/**
* @brief 单轴位置跟踪规划器
*
* 结构：
* - 外环：position_error -> desired_velocity
* - 内环：SCurveVelocityPlanner1D 负责 jerk-limited 速度规划
*
* 这个类用于高频变化目标的位置跟踪，不承担严格点到点 profile 语义。
*/
class SCurvePositionPlanner1D
{
public:
SCurvePositionPlanner1D(double max_velocity = 3.0,
double max_acceleration = 10.0,
double max_jerk = 50.0);
void setConstraints(double max_velocity, double max_acceleration, double max_jerk);
void getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const;
void setPositionGain(double position_gain);
double getPositionGain() const { return position_gain_; }
void initialize(double position, double velocity = 0.0, double acceleration = 0.0);
void reset();
void setTarget(double target_position);
double update(double dt);
const SCurvePositionPlannerState& getState() const { return state_; }
double getPosition() const { return state_.position; }
double getVelocity() const { return state_.velocity; }
double getAcceleration() const { return state_.acceleration; }
double getJerk() const { return state_.jerk; }
double getTargetPosition() const { return state_.target_position; }
bool isMoving() const { return state_.is_moving; }
private:
double max_velocity_;
double max_acceleration_;
double max_jerk_;
SCurvePositionPlannerState state_;
SCurveVelocityPlanner1D velocity_planner_;
double position_gain_;
static constexpr double EPSILON = 1e-9;
static constexpr double VELOCITY_THRESHOLD = 1e-6;
static constexpr double ACCELERATION_THRESHOLD = 1e-6;
static constexpr double POSITION_THRESHOLD = 1e-7;
double computeDesiredVelocity(double position_error) const;
double computePlannerStoppingDistance(double velocity, double acceleration) const;
static double clamp(double value, double min_val, double max_val)
{
return std::max(min_val, std::min(max_val, value));
}
static double sign(double value)
{
if (value > EPSILON) return 1.0;
if (value < -EPSILON) return -1.0;
return 0.0;
}
};
} // namespace cmvr

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//
// Created by lgv on 2026/3/9.
//
#pragma once
#include <algorithm>
#include <cmath>
#include <vector>
namespace cmvr
{
/**
* @brief 单次速度切换的 S 曲线剖面参数
*
* 本类表示从任意 (v0, a0) 连续规划到 (vf, 0) 的 3 段 jerk-limited profile：
*
* seg1: jerk = j1, duration = t1
* seg2: jerk = j2, duration = t2 (当前实现 j2 = 0)
* seg3: jerk = j3, duration = t3
*
* 其中 j1/j3 为 ±j_max，j2 为 0。
*/
struct SCurveVelocityProfile
{
double t1;
double t2;
double t3;
double total_time;
double j1;
double j2;
double j3;
double v0;
double a0;
double vf;
bool valid;
SCurveVelocityProfile()
: t1(0.0), t2(0.0), t3(0.0)
, total_time(0.0)
, j1(0.0), j2(0.0), j3(0.0)
, v0(0.0), a0(0.0), vf(0.0)
, valid(false)
{}
};
/**
* @brief S 曲线速度规划器状态
*/
struct SCurveVelocityPlannerState
{
double velocity;
double acceleration;
double jerk;
double target_velocity;
double elapsed_time;
bool has_active_profile;
bool is_moving;
SCurveVelocityPlannerState()
: velocity(0.0)
, acceleration(0.0)
, jerk(0.0)
, target_velocity(0.0)
, elapsed_time(0.0)
, has_active_profile(false)
, is_moving(false)
{}
};
/**
* @brief 单轴速度型 S 曲线规划器
*
* 语义：
* - setTargetVelocity(v): 设置新目标并重规划
* - update(dt): 只采样当前 active profile
* - overwriteState(v,a): 仅覆盖当前状态并清掉旧 profile
* - synchronizeAndReplan(v,a): 用测量状态同步，并按当前目标重规划
*
* 数学目标：
* - 从任意 (v0, a0) 连续规划到 (vf, 0)
* - 满足 |v| <= v_max, |a| <= a_max, |j| <= j_max
*/
class SCurveVelocityPlanner1D
{
public:
SCurveVelocityPlanner1D(double max_velocity = 1.0,
double max_acceleration = 1.0,
double max_jerk = 5.0);
void setConstraints(double max_velocity, double max_acceleration, double max_jerk);
void getConstraints(double& max_velocity, double& max_acceleration, double& max_jerk) const;
/**
* @brief 设置目标变化阈值
*
* 目标变化量小于该阈值时，不触发重规划。
*/
void setTargetReplanThreshold(double threshold);
/**
* @brief 设置同步反馈时的重规划阈值
*
* 测量速度与当前 profile 采样状态的偏差小于该阈值时，
* synchronizeAndReplan() 只对齐当前状态，不打断现有 profile。
*/
void setSynchronizeReplanThreshold(double threshold);
void initialize(double velocity = 0.0, double acceleration = 0.0);
void reset();
/**
* @brief 仅覆盖当前状态，并清掉旧 profile
*
* 注意：
* - 这个接口不会自动重规划
* - 用于初始化、调试、或显式中断旧轨迹
*/
void overwriteState(double velocity,
double acceleration = 0.0,
bool keep_target_velocity = true);
/**
* @brief 用测量状态同步，并按当前目标重新规划
*
* 这是闭环场景真正该用的接口。
*/
void synchronizeAndReplan(double velocity,
double acceleration = 0.0);
/**
* @brief 设置目标速度，并立即重规划
*/
void setTargetVelocity(double target_velocity);
/**
* @brief 平滑停下
*/
void stop() { setTargetVelocity(0.0); }
/**
* @brief 更新一步（只采样）
* @param dt 时间步长
* @return 当前采样后的速度
*/
double update(double dt);
/**
* @brief 计算单次速度切换剖面
*/
SCurveVelocityProfile calculateProfile(double start_velocity,
double end_velocity,
double start_acceleration = 0.0) const;
/**
* @brief 给定剖面下，获取时刻 t 的速度
*/
double getVelocityAtTime(const SCurveVelocityProfile& profile, double t) const;
/**
* @brief 给定剖面下，获取时刻 t 的加速度
*/
double getAccelerationAtTime(const SCurveVelocityProfile& profile, double t) const;
/**
* @brief 给定剖面下，获取时刻 t 的 jerk
*/
double getJerkAtTime(const SCurveVelocityProfile& profile, double t) const;
/**
* @brief 按固定时间间隔生成轨迹点
*/
void generateTrajectory(const SCurveVelocityProfile& profile, double dt,
std::vector<double>& velocities,
std::vector<double>& accelerations,
std::vector<double>& jerks) const;
const SCurveVelocityPlannerState& getState() const { return state_; }
const SCurveVelocityProfile& getActiveProfile() const { return active_profile_; }
double getVelocity() const { return state_.velocity; }
double getAcceleration() const { return state_.acceleration; }
double getJerk() const { return state_.jerk; }
double getTargetVelocity() const { return state_.target_velocity; }
bool hasActiveProfile() const { return state_.has_active_profile; }
bool isMoving() const { return state_.is_moving; }
private:
double max_velocity_;
double max_acceleration_;
double max_jerk_;
double target_replan_threshold_;
double synchronize_replan_threshold_;
SCurveVelocityPlannerState state_;
SCurveVelocityProfile active_profile_;
static constexpr double EPSILON = 1e-9;
static constexpr double VELOCITY_THRESHOLD = 1e-6;
static constexpr double ACCELERATION_THRESHOLD = 1e-6;
static constexpr double DEFAULT_TARGET_REPLAN_THRESHOLD = 1e-9;
static constexpr double DEFAULT_SYNCHRONIZE_REPLAN_THRESHOLD = 5e-2;
private:
void updateIsMovingFlag();
/**
* @brief 判断 profile 是否满足速度上限
*/
bool isVelocityLimitSatisfied(const SCurveVelocityProfile& profile) const;
/**
* @brief 计算完整剖面终点状态
*/
void integrateWholeProfile(const SCurveVelocityProfile& profile,
double& v_end,
double& a_end) const;
static double clamp(double value, double min_val, double max_val)
{
return std::max(min_val, std::min(max_val, value));
}
static double sign(double value)
{
if (value > EPSILON) return 1.0;
if (value < -EPSILON) return -1.0;
return 0.0;
}
};
} // namespace cmvr

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//
// Created by lgv on 2026/3/10.
//
#include "../include/s_curve_position_planner.h"
#include <algorithm>
#include <cmath>
namespace cmvr
{
SCurvePositionPlanner1D::SCurvePositionPlanner1D(double max_velocity,
double max_acceleration,
double max_jerk)
: max_velocity_(std::abs(max_velocity))
, max_acceleration_(std::abs(max_acceleration))
, max_jerk_(std::abs(max_jerk))
, velocity_planner_(max_velocity_, max_acceleration_, max_jerk_)
, position_gain_(1.0)
{
velocity_planner_.setTargetReplanThreshold(std::max(1e-3, 0.02 * max_velocity_));
reset();
}
void SCurvePositionPlanner1D::setConstraints(double max_velocity,
double max_acceleration,
double max_jerk)
{
max_velocity_ = std::abs(max_velocity);
max_acceleration_ = std::abs(max_acceleration);
max_jerk_ = std::abs(max_jerk);
velocity_planner_.setConstraints(max_velocity_, max_acceleration_, max_jerk_);
velocity_planner_.setTargetReplanThreshold(std::max(1e-3, 0.02 * max_velocity_));
}
void SCurvePositionPlanner1D::getConstraints(double& max_velocity,
double& max_acceleration,
double& max_jerk) const
{
max_velocity = max_velocity_;
max_acceleration = max_acceleration_;
max_jerk = max_jerk_;
}
void SCurvePositionPlanner1D::setPositionGain(double position_gain)
{
position_gain_ = std::max(0.0, position_gain);
}
void SCurvePositionPlanner1D::initialize(double position, double velocity, double acceleration)
{
state_.position = position;
velocity_planner_.initialize(velocity, acceleration);
state_.velocity = velocity_planner_.getVelocity();
state_.acceleration = velocity_planner_.getAcceleration();
state_.jerk = 0.0;
state_.target_position = position;
state_.is_moving = false;
}
void SCurvePositionPlanner1D::reset()
{
state_ = SCurvePositionPlannerState();
velocity_planner_.reset();
}
void SCurvePositionPlanner1D::setTarget(double target_position)
{
state_.target_position = target_position;
}
double SCurvePositionPlanner1D::update(double dt)
{
if (dt <= 0.0 || dt > 0.1) {
return state_.position;
}
const double position_error = state_.target_position - state_.position;
if (std::abs(position_error) < POSITION_THRESHOLD &&
std::abs(velocity_planner_.getVelocity()) < VELOCITY_THRESHOLD &&
std::abs(velocity_planner_.getAcceleration()) < ACCELERATION_THRESHOLD) {
velocity_planner_.overwriteState(0.0, 0.0, false);
state_.position = state_.target_position;
state_.velocity = 0.0;
state_.acceleration = 0.0;
state_.jerk = 0.0;
state_.is_moving = false;
return state_.position;
}
velocity_planner_.setTargetVelocity(computeDesiredVelocity(position_error));
const double old_velocity = velocity_planner_.getVelocity();
const double new_velocity = velocity_planner_.update(dt);
state_.velocity = new_velocity;
state_.acceleration = velocity_planner_.getAcceleration();
state_.jerk = velocity_planner_.getJerk();
state_.position += 0.5 * (old_velocity + new_velocity) * dt;
const double updated_error = state_.target_position - state_.position;
if (std::abs(updated_error) < POSITION_THRESHOLD &&
std::abs(state_.velocity) < VELOCITY_THRESHOLD &&
std::abs(state_.acceleration) < ACCELERATION_THRESHOLD) {
velocity_planner_.overwriteState(0.0, 0.0, false);
state_.position = state_.target_position;
state_.velocity = 0.0;
state_.acceleration = 0.0;
state_.jerk = 0.0;
state_.is_moving = false;
return state_.position;
}
state_.is_moving = velocity_planner_.isMoving() ||
std::abs(updated_error) > POSITION_THRESHOLD;
return state_.position;
}
double SCurvePositionPlanner1D::computeDesiredVelocity(double position_error) const
{
if (std::abs(position_error) <= POSITION_THRESHOLD) {
return 0.0;
}
const double proportional_velocity =
clamp(position_gain_ * position_error, -max_velocity_, max_velocity_);
const double current_velocity = velocity_planner_.getVelocity();
const double current_acceleration = velocity_planner_.getAcceleration();
const double stopping_distance =
computePlannerStoppingDistance(current_velocity, current_acceleration);
if (std::abs(current_velocity) > VELOCITY_THRESHOLD &&
sign(current_velocity) != sign(position_error)) {
return 0.0;
}
if (std::abs(current_velocity) > VELOCITY_THRESHOLD &&
sign(current_velocity) == sign(position_error) &&
std::abs(position_error) <= std::abs(stopping_distance) * 1.05) {
return 0.0;
}
double low = 0.0;
double high = max_velocity_;
for (int i = 0; i < 40; ++i) {
const double mid = 0.5 * (low + high);
const double distance =
std::abs(computePlannerStoppingDistance(sign(position_error) * mid, 0.0));
if (distance <= std::abs(position_error)) {
low = mid;
} else {
high = mid;
}
}
return sign(position_error) *
std::min(std::abs(proportional_velocity), low);
}
double SCurvePositionPlanner1D::computePlannerStoppingDistance(double velocity,
double acceleration) const
{
if (std::abs(velocity) <= VELOCITY_THRESHOLD &&
std::abs(acceleration) <= ACCELERATION_THRESHOLD) {
return 0.0;
}
const auto profile = velocity_planner_.calculateProfile(velocity, 0.0, acceleration);
if (!profile.valid || profile.total_time <= EPSILON) {
return 0.0;
}
const int steps = std::max(16, static_cast<int>(std::ceil(profile.total_time / 0.002)));
const double dt = profile.total_time / static_cast<double>(steps);
double distance = 0.0;
double previous_time = 0.0;
double previous_velocity = velocity_planner_.getVelocityAtTime(profile, 0.0);
for (int i = 1; i <= steps; ++i) {
const double t = (i == steps) ? profile.total_time : i * dt;
const double current_velocity = velocity_planner_.getVelocityAtTime(profile, t);
distance += 0.5 * (previous_velocity + current_velocity) * (t - previous_time);
previous_time = t;
previous_velocity = current_velocity;
}
return distance;
}
} // namespace cmvr

562
cmvr-es/planner/s_curve_planner/src/s_curve_velocity_planner.cpp Normal file
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@ -0,0 +1,562 @@
//
// Created by lgv on 2026/3/9.
//
#include "../include/s_curve_velocity_planner.h"
#include <cmath>
#include <limits>
namespace cmvr
{
SCurveVelocityPlanner1D::SCurveVelocityPlanner1D(double max_velocity,
double max_acceleration,
double max_jerk)
: max_velocity_(std::abs(max_velocity))
, max_acceleration_(std::abs(max_acceleration))
, max_jerk_(std::abs(max_jerk))
, target_replan_threshold_(DEFAULT_TARGET_REPLAN_THRESHOLD)
, synchronize_replan_threshold_(DEFAULT_SYNCHRONIZE_REPLAN_THRESHOLD)
{
reset();
}
void SCurveVelocityPlanner1D::setConstraints(double max_velocity,
double max_acceleration,
double max_jerk)
{
max_velocity_ = std::abs(max_velocity);
max_acceleration_ = std::abs(max_acceleration);
max_jerk_ = std::abs(max_jerk);
state_.velocity = clamp(state_.velocity, -max_velocity_, max_velocity_);
state_.acceleration = clamp(state_.acceleration, -max_acceleration_, max_acceleration_);
state_.target_velocity = clamp(state_.target_velocity, -max_velocity_, max_velocity_);
if (state_.has_active_profile) {
active_profile_ = calculateProfile(state_.velocity,
state_.target_velocity,
state_.acceleration);
state_.elapsed_time = 0.0;
state_.has_active_profile = active_profile_.valid && active_profile_.total_time > EPSILON;
}
updateIsMovingFlag();
}
void SCurveVelocityPlanner1D::getConstraints(double& max_velocity,
double& max_acceleration,
double& max_jerk) const
{
max_velocity = max_velocity_;
max_acceleration = max_acceleration_;
max_jerk = max_jerk_;
}
void SCurveVelocityPlanner1D::setTargetReplanThreshold(double threshold)
{
target_replan_threshold_ = std::max(0.0, threshold);
}
void SCurveVelocityPlanner1D::setSynchronizeReplanThreshold(double threshold)
{
synchronize_replan_threshold_ = std::max(0.0, threshold);
}
void SCurveVelocityPlanner1D::initialize(double velocity, double acceleration)
{
state_ = SCurveVelocityPlannerState();
state_.velocity = clamp(velocity, -max_velocity_, max_velocity_);
state_.acceleration = clamp(acceleration, -max_acceleration_, max_acceleration_);
state_.jerk = 0.0;
state_.target_velocity = state_.velocity;
state_.elapsed_time = 0.0;
state_.has_active_profile = false;
active_profile_ = SCurveVelocityProfile();
active_profile_.v0 = state_.velocity;
active_profile_.a0 = state_.acceleration;
active_profile_.vf = state_.velocity;
active_profile_.valid = false;
updateIsMovingFlag();
}
void SCurveVelocityPlanner1D::reset()
{
state_ = SCurveVelocityPlannerState();
active_profile_ = SCurveVelocityProfile();
}
void SCurveVelocityPlanner1D::overwriteState(double velocity,
double acceleration,
bool keep_target_velocity)
{
state_.velocity = clamp(velocity, -max_velocity_, max_velocity_);
state_.acceleration = clamp(acceleration, -max_acceleration_, max_acceleration_);
state_.jerk = 0.0;
state_.elapsed_time = 0.0;
state_.has_active_profile = false;
if (!keep_target_velocity) {
state_.target_velocity = state_.velocity;
} else {
state_.target_velocity = clamp(state_.target_velocity, -max_velocity_, max_velocity_);
}
active_profile_ = SCurveVelocityProfile();
active_profile_.v0 = state_.velocity;
active_profile_.a0 = state_.acceleration;
active_profile_.vf = state_.target_velocity;
active_profile_.valid = false;
updateIsMovingFlag();
}
void SCurveVelocityPlanner1D::synchronizeAndReplan(double velocity,
double acceleration)
{
const double measured_velocity = clamp(velocity, -max_velocity_, max_velocity_);
const double measured_acceleration =
clamp(acceleration, -max_acceleration_, max_acceleration_);
if (!state_.has_active_profile &&
std::abs(measured_velocity - state_.target_velocity) <= VELOCITY_THRESHOLD) {
state_.velocity = state_.target_velocity;
state_.acceleration = 0.0;
state_.jerk = 0.0;
updateIsMovingFlag();
return;
}
// 如果测量值已经基本落在当前采样状态上，就继续沿现有 profile 走。
// 否则每拍都从同一目标重规划，会把已经进入的 jerk phase 反复打断。
if (state_.has_active_profile &&
std::abs(measured_velocity - state_.velocity) <= synchronize_replan_threshold_) {
state_.velocity = measured_velocity;
state_.acceleration = measured_acceleration;
state_.jerk = getJerkAtTime(active_profile_, state_.elapsed_time);
updateIsMovingFlag();
return;
}
state_.velocity = measured_velocity;
state_.acceleration = measured_acceleration;
state_.jerk = 0.0;
active_profile_ = calculateProfile(state_.velocity,
state_.target_velocity,
state_.acceleration);
state_.elapsed_time = 0.0;
state_.has_active_profile = active_profile_.total_time > EPSILON;
updateIsMovingFlag();
}
void SCurveVelocityPlanner1D::setTargetVelocity(double target_velocity)
{
const double new_target = clamp(target_velocity, -max_velocity_, max_velocity_);
const bool same_target =
std::abs(new_target - state_.target_velocity) <= target_replan_threshold_;
if (same_target &&
state_.has_active_profile) {
return;
}
if (same_target &&
!state_.has_active_profile &&
std::abs(state_.velocity - new_target) <= VELOCITY_THRESHOLD &&
std::abs(state_.acceleration) <= ACCELERATION_THRESHOLD) {
return;
}
state_.target_velocity = new_target;
active_profile_ = calculateProfile(state_.velocity,
state_.target_velocity,
state_.acceleration);
state_.elapsed_time = 0.0;
state_.has_active_profile = active_profile_.valid && active_profile_.total_time > EPSILON;
updateIsMovingFlag();
}
double SCurveVelocityPlanner1D::getVelocityAtTime(const SCurveVelocityProfile& profile, double t) const
{
if (!profile.valid) {
return profile.v0;
}
if (t <= 0.0) {
return profile.v0;
}
if (t >= profile.total_time) {
return profile.vf;
}
double v = profile.v0;
double a = profile.a0;
auto process_segment = [&](double dt, double jerk) {
v += a * dt + 0.5 * jerk * dt * dt;
a += jerk * dt;
};
// seg1
if (t <= profile.t1) {
process_segment(t, profile.j1);
return v;
}
process_segment(profile.t1, profile.j1);
// seg2
const double t_after_1 = t - profile.t1;
if (t_after_1 <= profile.t2) {
process_segment(t_after_1, profile.j2);
return v;
}
process_segment(profile.t2, profile.j2);
// seg3
const double t_after_2 = t_after_1 - profile.t2;
process_segment(t_after_2, profile.j3);
return v;
}
double SCurveVelocityPlanner1D::getAccelerationAtTime(const SCurveVelocityProfile& profile, double t) const
{
if (!profile.valid) {
return profile.a0;
}
if (t <= 0.0) {
return profile.a0;
}
if (t >= profile.total_time) {
return 0.0;
}
double a = profile.a0;
auto process_segment = [&](double dt, double jerk) {
a += jerk * dt;
};
// seg1
if (t <= profile.t1) {
process_segment(t, profile.j1);
return a;
}
process_segment(profile.t1, profile.j1);
// seg2
const double t_after_1 = t - profile.t1;
if (t_after_1 <= profile.t2) {
process_segment(t_after_1, profile.j2);
return a;
}
process_segment(profile.t2, profile.j2);
// seg3
const double t_after_2 = t_after_1 - profile.t2;
process_segment(t_after_2, profile.j3);
return a;
}
double SCurveVelocityPlanner1D::getJerkAtTime(const SCurveVelocityProfile& profile, double t) const
{
if (!profile.valid) {
return 0.0;
}
if (t <= 0.0 || t >= profile.total_time) {
return 0.0;
}
if (t <= profile.t1) {
return profile.j1;
}
if (t <= profile.t1 + profile.t2) {
return profile.j2;
}
return profile.j3;
}
void SCurveVelocityPlanner1D::integrateWholeProfile(const SCurveVelocityProfile& profile,
double& v_end,
double& a_end) const
{
double v = profile.v0;
double a = profile.a0;
auto process_segment = [&](double dt, double jerk) {
v += a * dt + 0.5 * jerk * dt * dt;
a += jerk * dt;
};
process_segment(profile.t1, profile.j1);
process_segment(profile.t2, profile.j2);
process_segment(profile.t3, profile.j3);
v_end = v;
a_end = a;
}
bool SCurveVelocityPlanner1D::isVelocityLimitSatisfied(const SCurveVelocityProfile& profile) const
{
if (!profile.valid) {
return true;
}
std::vector<double> check_times;
check_times.reserve(8);
check_times.push_back(0.0);
check_times.push_back(profile.t1);
check_times.push_back(profile.t1 + profile.t2);
check_times.push_back(profile.total_time);
// seg1 内部若 acceleration 过零，则 velocity 可能在段内出现极值
if (std::abs(profile.j1) > EPSILON && profile.t1 > EPSILON) {
const double tz = -profile.a0 / profile.j1;
if (tz > EPSILON && tz < profile.t1 - EPSILON) {
check_times.push_back(tz);
}
}
for (double t : check_times) {
const double v = getVelocityAtTime(profile, t);
if (std::abs(v) > max_velocity_ + 1e-7) {
return false;
}
}
return true;
}
SCurveVelocityProfile SCurveVelocityPlanner1D::calculateProfile(double start_velocity,
double end_velocity,
double start_acceleration) const
{
SCurveVelocityProfile best;
best.v0 = clamp(start_velocity, -max_velocity_, max_velocity_);
best.a0 = clamp(start_acceleration, -max_acceleration_, max_acceleration_);
best.vf = clamp(end_velocity, -max_velocity_, max_velocity_);
if (max_jerk_ <= EPSILON || max_acceleration_ <= EPSILON) {
// 退化情况：这里不做特殊退化规划，直接返回 invalid
return best;
}
const double v0 = best.v0;
const double a0 = best.a0;
const double vf = best.vf;
// 目标方向坐标：尽量统一到“signed frame 下 Δv >= 0”
double s = sign(vf - v0);
if (std::abs(vf - v0) <= VELOCITY_THRESHOLD) {
s = 1.0;
}
const double dv = s * (vf - v0); // >= 0
const double a0s = s * a0; // signed frame 下的初始 acceleration
const double j = max_jerk_;
const double amax = max_acceleration_;
auto normalize_nonnegative = [](double x) {
return (x < 0.0 && x > -1e-10) ? 0.0 : x;
};
auto try_candidate = [&](double t1, double t2, double t3,
double j1s, double j2s, double j3s) {
t1 = normalize_nonnegative(t1);
t2 = normalize_nonnegative(t2);
t3 = normalize_nonnegative(t3);
if (t1 < 0.0 || t2 < 0.0 || t3 < 0.0) {
return;
}
SCurveVelocityProfile cand;
cand.t1 = t1;
cand.t2 = t2;
cand.t3 = t3;
cand.total_time = t1 + t2 + t3;
cand.j1 = s * j1s;
cand.j2 = s * j2s;
cand.j3 = s * j3s;
cand.v0 = v0;
cand.a0 = a0;
cand.vf = vf;
cand.valid = true;
double vend = 0.0;
double aend = 0.0;
integrateWholeProfile(cand, vend, aend);
if (std::abs(vend - vf) > 1e-5) {
return;
}
if (std::abs(aend) > 1e-5) {
return;
}
if (!isVelocityLimitSatisfied(cand)) {
return;
}
if (!best.valid || cand.total_time < best.total_time) {
best = cand;
}
};
// ---------------- UDU 三角形（无平台） ----------------
{
// Δv = (2A^2 - a0^2)/(2j)
const double A2 = 0.5 * (2.0 * j * dv + a0s * a0s);
if (A2 >= -1e-10) {
const double A = std::sqrt(std::max(0.0, A2));
if (A <= amax + 1e-10 && A >= a0s - 1e-10) {
const double t1 = (A - a0s) / j;
const double t2 = 0.0;
const double t3 = A / j;
try_candidate(t1, t2, t3, +j, 0.0, -j);
}
}
}
// ---------------- UDU 梯形（有平台） ----------------
{
const double A = amax;
if (A > EPSILON && A >= a0s - 1e-10) {
const double base = (2.0 * A * A - a0s * a0s) / (2.0 * j);
const double t1 = (A - a0s) / j;
const double t2 = (dv - base) / A;
const double t3 = A / j;
try_candidate(t1, t2, t3, +j, 0.0, -j);
}
}
// ---------------- DUD 三角形（无平台） ----------------
{
// Δv = (a0^2 - 2B^2)/(2j)
const double B2 = 0.5 * (a0s * a0s - 2.0 * j * dv);
if (B2 >= -1e-10) {
const double B = std::sqrt(std::max(0.0, B2));
if (B <= amax + 1e-10 && B >= -a0s - 1e-10) {
const double t1 = (a0s + B) / j;
const double t2 = 0.0;
const double t3 = B / j;
try_candidate(t1, t2, t3, -j, 0.0, +j);
}
}
}
// ---------------- DUD 梯形（有平台） ----------------
{
const double B = amax;
if (B > EPSILON && B >= -a0s - 1e-10) {
const double base = (a0s * a0s - 2.0 * B * B) / (2.0 * j);
const double t1 = (a0s + B) / j;
const double t2 = (base - dv) / B;
const double t3 = B / j;
try_candidate(t1, t2, t3, -j, 0.0, +j);
}
}
// 已到终点附近
if (!best.valid &&
std::abs(vf - v0) <= VELOCITY_THRESHOLD &&
std::abs(a0) <= ACCELERATION_THRESHOLD) {
best.valid = false;
best.total_time = 0.0;
best.v0 = v0;
best.a0 = a0;
best.vf = vf;
}
return best;
}
void SCurveVelocityPlanner1D::generateTrajectory(const SCurveVelocityProfile& profile, double dt,
std::vector<double>& velocities,
std::vector<double>& accelerations,
std::vector<double>& jerks) const
{
velocities.clear();
accelerations.clear();
jerks.clear();
if (!profile.valid || profile.total_time <= 0.0 || dt <= 0.0) {
velocities.push_back(profile.v0);
accelerations.push_back(profile.a0);
jerks.push_back(0.0);
return;
}
const int num_points = static_cast<int>(std::ceil(profile.total_time / dt)) + 1;
velocities.reserve(num_points);
accelerations.reserve(num_points);
jerks.reserve(num_points);
for (double t = 0.0; t <= profile.total_time; t += dt) {
velocities.push_back(getVelocityAtTime(profile, t));
accelerations.push_back(getAccelerationAtTime(profile, t));
jerks.push_back(getJerkAtTime(profile, t));
}
if (velocities.empty() || std::abs(velocities.back() - profile.vf) > VELOCITY_THRESHOLD) {
velocities.push_back(profile.vf);
accelerations.push_back(0.0);
jerks.push_back(0.0);
}
}
double SCurveVelocityPlanner1D::update(double dt)
{
if (dt <= 0.0) {
return state_.velocity;
}
if (!state_.has_active_profile || !active_profile_.valid) {
state_.jerk = 0.0;
updateIsMovingFlag();
return state_.velocity;
}
state_.elapsed_time += dt;
if (state_.elapsed_time >= active_profile_.total_time) {
state_.elapsed_time = active_profile_.total_time;
state_.velocity = active_profile_.vf;
state_.acceleration = 0.0;
state_.jerk = 0.0;
state_.has_active_profile = false;
updateIsMovingFlag();
return state_.velocity;
}
state_.velocity = getVelocityAtTime(active_profile_, state_.elapsed_time);
state_.acceleration = getAccelerationAtTime(active_profile_, state_.elapsed_time);
state_.jerk = getJerkAtTime(active_profile_, state_.elapsed_time);
updateIsMovingFlag();
return state_.velocity;
}
void SCurveVelocityPlanner1D::updateIsMovingFlag()
{
state_.is_moving =
state_.has_active_profile ||
std::abs(state_.velocity) > VELOCITY_THRESHOLD ||
std::abs(state_.target_velocity) > VELOCITY_THRESHOLD ||
std::abs(state_.acceleration) > ACCELERATION_THRESHOLD;
}
} // namespace cmvr

710
data/ik_movel_scurve.csv
View File

@ -1,169 +1,547 @@
t,q1,q2,q3,q4,q5,q6,q7 t,q1,q2,q3,q4,q5,q6,q7
0,0.25,1,1.5707963267949,1.5707963267949,-1.5707963267949,0,0 0,0.25,1,1.5707963267949,1.5707963267949,-1.5707963267949,0,0
0.002,0.25,1,1.5707963267949,1.5707963267949,-1.5707963267949,0,0 0.002,0.25,1,1.5707963267949,1.5707963267949,-1.5707963267949,0,0
0.004,0.250001842320363,1.00000035621738,1.57079547429742,1.57079444210524,-1.57079668301227,3.34430494936117e-07,1.42912469251269e-07 0.004,0.25000047042195,0.999999643059012,1.57079655522309,1.57079724068573,-1.57079596985391,-1.30973721143836e-06,4.82598248142038e-07
0.006,0.250009211599068,1.00000178109261,1.57079206431392,1.57078690333631,-1.57079810788309,1.67216263610067e-06,7.14561905387093e-07 0.006,0.250002352119835,0.999998215295479,1.57079746893306,1.57080089623876,-1.57079454209152,-6.54868491622439e-06,2.41299125801426e-06
0.008,0.250025792451452,1.0000049871135,1.57078439190875,1.57076994101371,-1.57080131385445,4.68215140661819e-06,2.00076916853545e-06 0.008,0.250006586030861,0.999995002831306,1.57079952475507,1.57080912114056,-1.57079132964004,-1.83363069831887e-05,6.75637568596772e-06
0.01,0.25005526942355,1.00001068691258,1.57077075230822,1.57073978540339,-1.57080701340708,1.00336083670537e-05,4.28734398236013e-06 0.01,0.250014113346931,0.999989291798997,1.57080317944813,1.57082374281808,-1.57078561867083,-3.92920384698955e-05,1.44779486252094e-05
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0.016,0.250257919731615,1.00004988112752,1.57067698911111,1.57053245106106,-1.57084619971424,4.68392258226527e-05,2.00069223188819e-05 0.016,0.250065877891993,0.999950029044509,1.57082830147452,1.57092425232965,-1.5707463579404,-0.000183361080548634,6.75637869166764e-05
0.018,0.250375822089508,1.00007269188062,1.57062244363736,1.57041180788839,-1.57086900061264,6.8265540079134e-05,2.91523307867103e-05 0.018,0.250096007496088,0.999927185761162,1.57084291455164,1.57098271830821,-1.5707235171799,-0.000267181704862094,9.84501132239856e-05
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1.05,0.791179477875349,0.847604587113496,1.52869025955989,1.70832162230551,-1.4623416888769,-0.581361990782562,0.251036280427551
1.052,0.791818305861189,0.84754031645905,1.52850544503333,1.7081778637077,-1.46234840719383,-0.58171628864015,0.251259974198561
1.054,0.792394220156922,0.847483400874214,1.52833940991484,1.70804788416909,-1.4623559591194,-0.582035396968814,0.251462630091183
1.056,0.792910438356313,0.847433424873286,1.52819123084624,1.70793105283471,-1.46236426018755,-0.58232119983247,0.251645329536891
1.058,0.79337018963127,0.847389979322948,1.52805997300734,1.70782672114435,-1.46237323371983,-0.582575570339205,0.25180915617816
1.06,0.793776713478906,0.847352660815312,1.52794469136149,1.7077342246939,-1.46238281006298,-0.582800371774751,0.251955195672332
1.062,0.794133258545905,0.847321071071069,1.52784443182793,1.70765288499264,-1.46239292586635,-0.582997458678001,0.252084535505199
1.064,0.7944430815285,0.847294816373726,1.52775823238202,1.7075820111171,-1.46240352339968,-0.583168677857466,0.252198264814529
1.066,0.794709446146578,0.847273507035861,1.52768512408382,1.7075209012611,-1.46241454991172,-0.583315869347713,0.252297474223733
1.068,0.794935621134677,0.847256582178173,1.52762398533234,1.70746886022957,-1.46242568999227,-0.583440857634691,0.252383050855421
1.07,0.795124876564734,0.847242800968848,1.52757311565017,1.70742524724721,-1.46243558784952,-0.583545424258445,0.252455082111308
1.072,0.79528048963571,0.847231324436233,1.52753114513836,1.70738937777344,-1.4624435007616,-0.583631368484945,0.252514124239224
1.074,0.795405743378718,0.847221698745122,1.52749702203415,1.70736052646407,-1.46244927420063,-0.583700507250131,0.25256118338822
1.076,0.795503924901395,0.847213705083353,1.5274698878575,1.70733794208708,-1.46245311274696,-0.583754667567952,0.252597540065297
1.078,0.795578324099649,0.847207244726261,1.5274489817838,1.707320858976,-1.46245540452512,-0.583795680766422,0.252624614669369
1.08,0.795632232709233,0.847202255186311,1.52743357092267,1.70730850546845,-1.46245659303338,-0.58382537835427,0.252643869376861
1.082,0.795668943607795,0.847198653344747,1.52742290313086,1.70730010975261,-1.46245709017542,-0.583845589308781,0.252656741614279
1.084,0.795691750307612,0.847196301672216,1.52741617913159,1.70729490350484,-1.46245722458809,-0.583858138579516,0.252664604579035
1.086,0.79570394660047,0.847194993819697,1.52741254083593,1.70729212367106,-1.4624572196004,-0.583864846606945,0.25266875045968
1.088,0.79570882633024,0.84719445593062,1.52741107280446,1.70729101272849,-1.4624571952486,-0.583867529655005,0.252670392078664
1.09,0.795709683276719,0.847194360012352,1.52741081376797,1.70729081775968,-1.4624571887431,-0.583868000753386,0.252670678660393

1 t q1 q2 q3 q4 q5 q6 q7
2 0 0.25 1 1.5707963267949 1.5707963267949 -1.5707963267949 0 0
3 0.002 0.25 1 1.5707963267949 1.5707963267949 -1.5707963267949 0 0
4 0.004 0.250001842320363 0.25000047042195 1.00000035621738 0.999999643059012 1.57079547429742 1.57079655522309 1.57079444210524 1.57079724068573 -1.57079668301227 -1.57079596985391 3.34430494936117e-07 -1.30973721143836e-06 1.42912469251269e-07 4.82598248142038e-07
5 0.006 0.250009211599068 0.250002352119835 1.00000178109261 0.999998215295479 1.57079206431392 1.57079746893306 1.57078690333631 1.57080089623876 -1.57079810788309 -1.57079454209152 1.67216263610067e-06 -6.54868491622439e-06 7.14561905387093e-07 2.41299125801426e-06
6 0.008 0.250025792451452 0.250006586030861 1.0000049871135 0.999995002831306 1.57078439190875 1.57079952475507 1.57076994101371 1.57080912114056 -1.57080131385445 -1.57079132964004 4.68215140661819e-06 -1.83363069831887e-05 2.00076916853545e-06 6.75637568596772e-06
7 0.01 0.25005526942355 0.250014113346931 1.00001068691258 0.999989291798997 1.57077075230822 1.57080317944813 1.57073978540339 1.57082374281808 -1.57080701340708 -1.57078561867083 1.00336083670537e-05 -3.92920384698955e-05 4.28734398236013e-06 1.44779486252094e-05
8 0.012 0.250101326918013 0.25002587578704 1.00001959342197 0.999980368352981 1.57074944107367 1.57080888962368 1.5706926662341 1.57084658816104 -1.57081591909138 -1.570776695436 1.83962760218046e-05 -7.20352548050359e-05 7.8600730098651e-06 2.65429080714911e-05
9 0.014 0.250167649092643 0.250042815970618 1.00003242008538 0.999967518685138 1.57071875433882 1.57081711164106 1.57062481231678 1.57087948314138 -1.57082874357675 -1.57076384632562 3.04408038203672e-05 -0.000119185229528684 1.3004703478399e-05 4.39164535541204e-05
10 0.016 0.250257919731615 0.250065877891993 1.00004988112752 0.999950029044509 1.57067698911111 1.57082830147452 1.57053245106106 1.57092425232965 -1.57084619971424 -1.5707463579404 4.68392258226527e-05 -0.000183361080548634 2.00069223188819e-05 6.75637869166764e-05
11 0.018 0.250375822089508 0.250096007496088 1.00007269188062 0.999927185761162 1.57062244363736 1.57084291455164 1.57041180788839 1.57098271830821 -1.57086900061264 -1.5707235171799 6.8265540079134e-05 -0.000267181704862094 2.91523307867103e-05 9.84501132239856e-05
12 0.02 0.25052503870832 0.250134153355467 1.00010156916829 0.999898275274187 1.57055341783365 1.570861405563 1.57025910554178 1.57105670098111 -1.57089785972805 -1.57069461134612 9.53963898036617e-05 -0.000373265701722758 4.07264145527739e-05 0.000137540641784734
13 0.022 0.250709251207703 0.250181267448461 1.00013723174661 0.999862584163762 1.57046821377978 1.57088422824305 1.57007056329152 1.57114801678116 -1.57093349096721 -1.57065892826264 0.000128911846446335 -0.00050423128435177 5.50145092939761e-05 0.00018580058735287
14 0.024 0.25093214004874 0.250238306037392 1.00018040080262 0.999819399187298 1.57036513627856 1.57091183512237 1.56984239603644 1.57125847777549 -1.5709766088048 -1.57061575640899 0.000169496294800861 -0.000662696180567743 7.23017618654089e-05 0.000244195171776534
15 0.026 0.251197384271681 0.250306230644415 1.00023180051036 0.999768007319777 1.57024249348038 1.57094467725243 1.56957081330007 1.5713898906728 -1.57102792841521 -1.57056438507031 0.000217839420297711 -0.000851277523241454 9.28730871779383e-05 0.000313689626812957
16 0.028 0.251508661208166 0.250386009127344 1.00029215864445 0.999707695798416 1.57009859757347 1.57098320390151 1.56925201812088 1.57154405572967 -1.57108816581923 -1.5705041045026 0.000274637298630594 -0.0010725917297323 0.000117013120891842 0.000395249197883043
17 0.03 0.251869646168614 0.250478616872607 1.00036220725132 0.999637752170651 1.56993176554023 1.57102786221273 1.56888220583562 1.57172276553403 -1.57115803804603 -1.57043420611487 0.000340593587825559 -0.00132925436411946 0.000145006167898724 0.000489839144531641
18 0.032 0.252284012105614 0.250585038074371 1.00044268337735 0.999557464346465 1.56974031997957 1.57107909683867 1.56845756275503 1.57192780370559 -1.5712382633105 -1.57035398266535 0.000416420822772189 -0.00162387999348339 0.000177136146195836 0.000598424744928135
19 0.034 0.252755429254375 0.250706267118671 1.00053432985264 0.999466120654551 1.56952258999442 1.57113734954332 1.56797426473065 1.57216094348961 -1.57132956120555 -1.57026272847384 0.000502841812073582 -0.00195908203141728 0.000213686525014057 0.00072197130036424
20 0.036 0.253287564751547 0.250843310069524 1.00063789612751 0.999363009902274 1.56927691214216 1.57120305877169 1.56742847561208 1.57242394624786 -1.57143265290722 -1.5701597396497 0.000600591136810968 -0.00233747256989253 0.000254940254750321 0.000861444140564823
21 0.038 0.253884082234046 0.25099718625673 1.00075413915643 0.999247421439378 1.56900163144327 1.57127665918684 1.56681634559378 1.57271855984787 -1.571548261389 -1.57004431433571 0.000710416750429909 -0.00276166219960709 0.000301179684129656 0.0010178086300883
22 0.04 0.254548641419916 0.251168929965533 1.00088382432053 0.999118645225347 1.56869510244007 1.57135858117314 1.56613400945109 1.57304651695034 -1.57167711163798 -1.56991575296774 0.000833081678402873 -0.00323425981877845 0.000352686456771557 0.0011920301760154
23 0.042 0.255284897673769 0.251359592228325 1.00102772637452 0.998975971900352 1.56835569029184 1.57144925030474 1.56537758466548 1.57340953319513 -1.57181993086087 -1.5697733585504 0.00096936581556545 -0.00375787243033101 0.000409741374578847 0.00138507423714958
24 0.044 0.256096501559966 0.251570242718595 1.00118663039675 0.998818692859658 1.56798177188531 1.5715490867781 1.56454316943985 1.57380930528595 -1.57197744866114 -1.56961643694885 0.00112006781800965 -0.00433510492741253 0.000472624208638559 0.00159790633497738
25 0.046 0.25698709838616 0.251801971747353 1.00136133272898 0.998646100331404 1.56757173694767 1.57165850480715 1.5636268406016 1.57424750897407 -1.57215039717532 -1.56944429719675 0.00128600708927412 -0.0049685598671558 0.000541613444858038 0.00183149206666271
26 0.048 0.257960327706088 0.252055499984317 1.00155264235986 0.998457778919316 1.56712398963253 1.57177772745776 1.56262465129037 1.57472505784035 -1.57233951158172 -1.56925654240594 0.00146802596391654 -0.00565976745880769 0.000616986357907511 0.00208640259738799
27 0.05 0.25901982283555 0.252330161960637 1.00176138210273 0.998254355835669 1.56663694990973 1.57190631321648 1.56153262858032 1.57524020644808 -1.57254553040044 -1.56905381705993 0.00166699193133438 -0.00640643167306516 0.000699018857582903 0.00236179878779658
28 0.052 0.260169210372693 0.252625171204899 1.0019883896871 0.998036551188815 1.5661090548831 1.57204376048817 1.56034677099537 1.57579097026807 -1.57276919568873 -1.56883685873587 0.00188379993879461 -0.00720591555188081 0.000787985203963878 0.00265671598977199
29 0.054 0.261412109710082 0.252939742373786 1.00223451898233 0.997805085101871 1.5655387602637 1.57218956708213 1.55906304586521 1.57637536373045 -1.57301125333204 -1.56860640519761 0.00211937482346646 -0.00805558200416776 0.000884157781179529 0.00297018961259649
30 0.056 0.262752132550084 0.253273089233422 1.00250064125313 0.997560677628197 1.56492454189639 1.57234323076536 1.55767738653966 1.57699140228548 -1.57327245334267 -1.56836319408827 0.0023746738510965 -0.00895279403244094 0.000987806843381478 0.0033012551216505
31 0.058 0.264192882428002 0.253624422740584 1.00278764644405 0.997304048671724 1.56426489733812 1.57250424979362 1.55618568945554 1.57763710435995 -1.57355355016504 -1.56810796263798 0.00265068936227716 -0.00989491494798889 0.00109920022985152 0.00364894803594106
32 0.06 0.265737954247884 0.253992949223688 1.00309644448937 0.997035917912167 1.56355834748601 1.57267212342084 1.55458381105016 1.5783104932092 -1.57385530298695 -1.56784144738653 0.00294845152742228 -0.0108793085746444 0.00121860304593726 0.00401230392437078
33 0.062 0.267390933836477 0.254377868663495 1.00342796664498 0.996757004735117 1.56280343825317 1.57284635238723 1.55286756451418 1.57900959866477 -1.57417847605577 -1.56756438392099 0.00326903121175137 -0.0119033394412278 0.00134627730627171 0.00439035840069514
34 0.064 0.269155397521335 0.25477837307352 1.00378316683865 0.996468028167002 1.5619987422898 1.5730264393861 1.55103271637648 1.57973245877761 -1.57452383899889 -1.56727750662821 0.00361354295180039 -0.0129643729627431 0.00148248153649196 0.00478214711714979
35 0.066 0.271034911739794 0.25519364498011 1.00416302303465 0.996169706814893 1.5611428607472 1.57321188950975 1.54907498291238 1.58047712135703 -1.57489216714748 -1.56698154846202 0.00398314804522704 -0.0140597756104065 0.00162747032942876 0.00518670575676088
36 0.068 0.273033032686143 0.25562285600223 1.00456853860907 0.995862758811123 1.56023442508162 1.57340221067413 1.54699002636592 1.58124164540536 -1.57528424186254 -1.56667724072532 0.0043790577559646 -0.0151869150705921 0.00178149385149385 0.00560307002438021
37 0.07 0.275153306005132 0.256065165530977 1.00500074373146 0.995547901762665 1.5592720988951 1.57359691402226 1.54477345097585 1.58202410244853 -1.57570085086258 -1.56636531286683 0.00480253663710795 -0.0163431603927744 0.00194479729474488 0.00603027563651297
38 0.0720000000000001 0.277399266540752 0.256519719508883 1.00546069674887 0.995225852705231 1.55825457980963 1.57379551430601 1.5424207987938 1.58282257776265 -1.57614278855189 -1.56604649229253 0.00525490597429168 -0.0175258821265462 0.00211762026986112 0.00646735831002896
39 0.0740000000000001 0.279774438150143 0.256985649309076 1.00594948556802 0.994897328062009 1.55718060137111 1.57399753024604 1.53992754528202 1.5836351714967 -1.5766108563487 -1.56572150419184 0.00573754735275206 -0.0187324524477844 0.00230019613501494 0.00691335374986928
40 0.0760000000000001 0.282282333593441 0.257462070714391 1.00646822903136 0.994563043606989 1.55604893497889 1.57420248486925 1.53728909467663 1.58445999969163 -1.57710586301241 -1.56539107137852 0.00625190635175666 -0.0199602452740281 0.00249275125537641 0.00736729763587812
41 0.0780000000000001 0.28492645451149 0.257948082996526 1.00701807828284 0.994223714432794 1.5548583918365 1.57440990582331 1.53450077510092 1.58529519519592 -1.57762862496925 -1.56505591414624 0.00679949637064798 -0.0212066363691233 0.00269550418774032 0.00782822560890514
42 0.0800000000000001 0.287710291504475 0.258442768095387 1.00760021811934 0.993880054922939 1.55360782491869 1.57461932566765 1.53155783341149 1.58613890847775 -1.57817996663587 -1.56471675013891 0.00738190259138794 -0.0224690034371797 0.00290866478451633 0.00829517325633661
43 0.0820000000000001 0.290636961340257 0.25894518989871 1.00821579201921 0.993532778728442 1.55229629365924 1.57483028214013 1.5284558144833 1.58698930833416 -1.57876064876227 -1.56437429423587 0.0080007093413499 -0.0237447262058671 0.00313240550072555 0.00876717609722456
44 0.0840000000000001 0.293704335855572 0.259454393622146 1.00886487094147 0.993182598748703 1.55092524192205 1.57504231839865 1.52519573812858 1.58784458249719 -1.5793704003301 -1.56402925845179 0.00865645872516008 -0.0250311864990688 0.00336648940686858 0.00924326956719108
45 0.0860000000000001 0.296908573121487 0.259969405289927 1.00954717080892 0.992830227116568 1.54949689362425 1.57525498323697 1.52178041113848 1.58870293813725 -1.58000861146009 -1.56368235185161 0.00934935295292093 -0.0263257682988902 0.00361054168475044 0.00972248900329144
46 0.0880000000000001 0.300245837642274 0.260489231316283 1.01026240719637 0.9924763751875 1.54801347594706 1.57546783127372 1.51821261851234 1.58956260226394 -1.58067467243228 -1.56333428048042 0.0100796063044685 -0.0276258577970037 0.00386418116996403 0.0102038696290235
47 0.0900000000000001 0.303712301919588 0.261012858187775 1.01101029304587 0.992121753532774 1.54647721672544 1.57568042311382 1.51449512663298 1.5904218220245 -1.58136797317742 -1.56298574730837 0.0108474415190109 -0.0289288434352961 0.00412702031074811 0.010686446539673
48 0.0920000000000001 0.307304147961211 0.261539293116413 1.01179053649422 0.991767044398554 1.54489034191344 1.57589234193789 1.51063068636732 1.59127893145011 -1.58208790279819 -1.56263742514831 0.0116530862970873 -0.0302322171314552 0.00439866516278821 0.0111692921788712
49 0.0940000000000001 0.311017568729452 0.26206826540447 1.01260283881528 0.991412432143538 1.54325507312735 1.57610347297143 1.50662203609744 1.59213348235848 -1.58283384912085 -1.56228949602713 0.0124967699139056 -0.0315352999553912 0.00467871542248941 0.0116521558609447
50 0.0960000000000001 0.31484876952446 0.262599775628729 1.01344689247894 0.991057916464163 1.54157362526907 1.57631381254385 1.5024719046872 1.59298547524946 -1.583605198278 -1.56194196032547 0.0133787199429329 -0.0328380914940666 0.00496676450076238 0.0121350381449214
51 0.0980000000000001 0.318793969297783 0.26313382436409 1.01432237932795 0.990703497061623 1.5398482042319 1.5765233569802 1.49818301438949 1.59383491061208 -1.58440133432277 -1.5615948184307 0.0142991590884302 -0.0341405913192268 0.00526239963889535 0.0126179395848887
52 0.1 0.322849401891661 0.263670412183494 1.015228968873 0.990349173641918 1.53808100469095 1.57673210260126 1.4937580836989 1.59468178892469 -1.58522163887456 -1.56124807073686 0.0152583021254375 -0.0354427989874131 0.00556520206763711 0.0131008607300459
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714
data/ik_movel_scurve_tcp.csv
View File

@ -1,169 +1,547 @@
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1.002,0.559727009668309,-0.29291376026589,0.195528989982229,-6.18470887281397e-05,-4.78822072408347e-05,0.199922596160334,0.000208561473647326,6.05797356726379e-05,-0.124918854036565,0.199922611460676,0.124919042830152
1.004,0.559726886319594,-0.292913855933223,0.195928635348438,-6.12142416200889e-05,-4.76881080457847e-05,0.199522724448689,0.000459439777888981,0.00014546347806843,-0.299958929307967,0.199522739538045,0.299959316434937
1.006,0.559726764811343,-0.292913951018322,0.196327080880023,-6.00093296165837e-05,-4.73003533285609e-05,0.198722760443103,0.000743686244530916,0.000241945054268999,-0.500005546889836,0.198722775133022,0.500006158489317
1.008,0.559726646282276,-0.292914045134637,0.196723526390211,-5.82394966419652e-05,-4.67203278287087e-05,0.19752270226113,0.00102349224928577,0.000337419873291944,-0.700052949590204,0.197522716372489,0.700053779090221
1.01,0.559726531853356,-0.292914137899634,0.197117171689068,-5.59153606194406e-05,-4.59506738353932e-05,0.195922548644742,0.00129711919677477,0.00043125516352438,-0.900100815097448,0.195922562012248,0.900101853035709
1.012,0.559726422620833,-0.292914228937332,0.19750721658479,-5.30510198548661e-05,-4.49953071746112e-05,0.19392229900074,0.00156282526503348,0.000522810704450815,-1.10014880104481,0.193922311477356,1.10015003531072
1.014,0.559726319649277,-0.292914317880862,0.197892860885071,-4.96640595593067e-05,-4.38594310175899e-05,0.191521953440562,0.00181886569694533,0.000611439794628854,-1.30019654553948,0.191521964901829,1.30019796152887
1.016,0.559726223964595,-0.292914404375056,0.198273304398552,-4.57755570670848e-05,-4.25495479960957e-05,0.188721512818582,0.00206349316800302,0.000696490178031526,-1.5002436680768,0.188721523166807,1.50024524885338
1.018,0.559726136547048,-0.292914488079054,0.198647746936345,-4.14100868872946e-05,-4.10734703054638e-05,0.185520978768255,0.002294958015292,0.000777305032839679,-1.70028977063662,0.185520987936559,1.70029149711657
1.02,0.559726058324248,-0.292914568668937,0.199015388313625,-3.65957250059168e-05,-3.9440327864737e-05,0.181920353736035,0.00251150856361848,0.000853224046970524,-1.90033443890278,0.181920361692227,1.90033629006723
1.022,0.559725990164148,-0.292914645840366,0.199375428351289,-3.13640526328207e-05,-3.76605741175817e-05,0.177919641012644,0.0027113915071486,0.000923584472789506,-2.1003772436648,0.177919647762946,2.10037919680164
1.024,0.559725932868037,-0.292914719311234,0.199727066877676,-2.57501589773223e-05,-3.5745989973579e-05,0.173518844761376,0.00289285265187011,0.000987722077738781,-2.30041774234613,0.173518850353986,2.30041977332231
1.026,0.559725887163512,-0.292914788824326,0.200069503730335,-1.97926420253402e-05,-3.37096858066266e-05,0.16871797004326,0.00305413732498704,0.0010449723482353,-2.50045548068518,0.168717974571798,2.5004575642491
1.028,0.559725853697469,-0.292914854149977,0.200401938757849,-1.35336096773741e-05,-3.15661005806378e-05,0.163517022838636,0.00319349088839793,0.0010946715374438,-2.70048999475615,0.16351702644553,2.7004921048705
1.03,0.559725833029074,-0.292914915088728,0.200723571821689,-7.01867847174852e-06,-2.93309996568513e-05,0.157916010064235,0.00330915968238531,0.00113615756733298,-2.90052081296579,0.15791601294415,2.90052292317085
1.032,0.559725825622755,-0.292914971473976,0.201033602798106,-2.96970947832875e-07,-2.70214703113058e-05,0.151914939586772,0.00339939158766622,0.00116877119787917,-3.10054745819577,0.151914941990249,3.10054954200276
1.034,0.55972583184119,-0.292915023174609,0.201331231580036,6.57888787891636e-06,-2.46559148653347e-05,0.145513820231452,0.00346243698989834,0.00119185697075585,-3.30056945031797,0.145513822469026,3.30057148163242
1.036,0.559725851938307,-0.292915070097635,0.201615658079031,1.35527770117605e-05,-2.22540424282824e-05,0.1387126617855,0.00349654961928624,0.00120476418424831,-3.50058630869085,0.138712664232718,3.50058826226534
1.038,0.559725886052298,-0.292915112190779,0.201886082227178,2.05650863560613e-05,-1.98368581283414e-05,0.131511474996689,0.00349998735549306,0.00120684794102654,-3.70059755486033,0.13151147810069,3.70059940677611
1.04,0.559725934198652,-0.292915149445068,0.202141703979018,2.75527264337327e-05,-1.74266506641762e-05,0.123910271566059,0.00347101347664135,0.0011974700987738,-3.90060271541342,0.123910275854811,3.90060444359073
1.042,0.559725996263204,-0.292915181897382,0.202381723313443,3.44491402626268e-05,-1.50469777332462e-05,0.115909064135035,0.00340789761688053,0.00117600024163167,-4.10060132499494,0.115909070230998,4.10060290973083
1.044,0.559726071995213,-0.292915209632978,0.202605340235558,4.11843169012549e-05,-1.27226496976496e-05,0.107507866266079,0.00329489877742839,0.00113709665294781,-4.2801538298609,0.107507874907371,4.28015524912587
1.046,0.559726161000471,-0.29291523278798,0.202811754778507,4.76287353723403e-05,-1.0498591121455e-05,0.0987884488155912,0.00307491947182381,0.00106157932097672,-4.34575395964232,0.0987884608550388,4.34575517716166
1.048,0.559726262510155,-0.292915251627343,0.203000494030821,5.34839947885501e-05,-8.47633241374268e-06,0.09012485042751,0.0027336183941462,0.00094485897925156,-4.23827163429507,0.0901248666959733,4.2382726211864
1.05,0.55972637493645,-0.29291526669331,0.203172254180217,5.85632089489251e-05,-6.71915520444876e-06,0.0818353622784109,0.00235898493794462,0.000816859906105359,-4.04471370012322,0.0818353835088176,4.04471447052008
1.052,0.55972649676299,-0.292915278503964,0.203327835479934,6.29199345403286e-05,-5.20889278932124e-06,0.0739459956270171,0.00201515260034313,0.000699331623860154,-3.84465549212696,0.073946022579457,3.84465608384504
1.054,0.559726626616189,-0.292915287528881,0.203468038162725,6.66238193502977e-05,-3.92182870900814e-06,0.0664567403099031,0.00170527032078426,0.00059338974012224,-3.6446023173979,0.0664567738212738,3.64460276464259
1.056,0.559726763258268,-0.292915294191279,0.203593662441174,6.97410158234656e-05,-2.83533382883227e-06,0.0593675863574255,0.00142758697224687,0.00049848331365454,-3.4445540629778,0.0593676273886264,3.44455439487709
1.058,0.559726905580252,-0.292915298870217,0.203705508508155,7.23341672392851e-05,-1.92789545438998e-06,0.0526785240579918,0.00118034510637743,0.000414047972990827,-3.24451058548481,0.0526785737551517,3.2445108266075
1.06,0.559727052594937,-0.29291530190286,0.203804376537406,7.44623962489754e-05,-1.17914193686896e-06,0.0463895440154862,0.000961782119224263,0.000339507880142697,-3.04447171429848,0.0463896037922676,3.04447188514757
1.062,0.559727203429837,-0.292915303586784,0.203891066684217,7.61812957161822e-05,-5.69863933819192e-07,0.0405006372007979,0.000770131187988187,0.000274277423689683,-2.84443725456946,0.0405007088528734,2.84443737204967
1.064,0.55972735732012,-0.292915304182316,0.203966379086209,7.75429210009281e-05,-8.20322421102303e-08,0.0350117949972084,0.000398973742932185,0.00021421258517007,-2.64440716362356,0.0350118808668982,2.64440720239729
1.066,0.559727513601521,-0.292915303914913,0.204031113864205,7.77771906879109e-05,2.86986406861089e-07,0.0299230085463037,-0.00115535531142186,0.000141854781393613,-2.44438170280032,0.0299231096284446,2.4443819799601
1.068,0.559727668428882,-0.292915303034371,0.204086071120394,7.29214997552407e-05,4.85386883464222e-07,0.0252342681860071,-0.00401650483705662,5.56669155216126e-05,-2.24435995451258,0.0252343735540246,2.24436354916703
1.07,0.55972780528752,-0.292915301973366,0.20413205093695,6.17111713396845e-05,5.0965406894754e-07,0.0209455687282534,-0.00626615419968556,-1.15940174127971e-05,-2.04434003984142,0.0209456596429523,2.04434964311923
1.072,0.559727915273568,-0.292915300995754,0.204169853395307,4.78568829564984e-05,4.39010813813034e-07,0.0170569080266414,-0.00686163004193217,-4.41210054602514e-05,-1.84432192848992,0.0170569751686306,1.84433469300511
1.074,0.559727996715052,-0.292915300217322,0.204200278569056,3.42646511719557e-05,3.33170047106534e-07,0.0135682810142937,-0.00631623352231879,-5.29287308426162e-05,-1.64430670730048,0.0135683242834244,1.64431883930115
1.076,0.559728052332172,-0.292915299663074,0.204224126519365,2.25919488672232e-05,2.27295890442569e-07,0.0104796811974395,-0.00517427409252313,-4.84691488333854e-05,-1.44429475571785,0.0104797055515784,1.44430402507772
1.078,0.559728087082847,-0.292915299308139,0.204242197293846,1.35675548018632e-05,1.39293451772993e-07,0.00779110199142229,-0.00383122115282796,-3.79535396166641e-05,-1.24428593613682,0.00779111380604149,1.24429183496633
1.08,0.559728106602392,-0.2929152991059,0.20425529092733,7.26706425591139e-06,7.54817319759126e-08,0.00550253745289219,-0.00255506633906055,-2.60802768270451e-05,-1.04427983641311,0.00550254225212326,1.04428296250737
1.082,0.559728116151104,-0.292915299006212,0.204264207443657,3.34728944562101e-06,3.4972344464812e-08,0.00361398264576984,-0.00150598635645371,-1.56192385414311e-05,-0.844275922229352,0.00361398419607713,0.844277265532532
1.084,0.559728119991549,-0.292915298966011,0.204269746857913,1.24311883009653e-06,1.30047778101883e-08,0.00212543376397478,-0.000754516962797601,-7.88577883548135e-06,-0.644273639664044,0.00212543412755078,0.644274081524305
1.086,0.55972812112358,-0.292915298954193,0.204272709178713,3.29221594430606e-07,3.42922912288656e-09,0.00103688808711366,-0.000298867597336993,-3.12933359780664e-06,-0.444272481940274,0.00103688813938479,0.44427258247725
1.088,0.559728121308436,-0.292915298952294,0.204273894410262,4.764844074856e-08,4.87443418961675e-10,0.000348343836213682,-8.15881945337436e-05,-8.50951253905661e-07,-0.233204047222351,0.000348343839472835,0.233204061496026
1.09,0.559728121314173,-0.292915298952243,0.204274102554058,2.8688162956314e-09,2.54241072639161e-11,0.000104071898224256,-2.23898122264643e-05,-2.31009655848879e-07,-0.122135968994713,0.0001040718982638,0.122135971047168

1 t px py pz vx vy vz ax ay az speed acc
2 0 0.559809314390095 -0.292914056655931 0.00429163619695835 0 0 0 0.0499999733977186 -2.63539190470397e-08 5.51156342787351e-08 1.86795023893183e-08 4.43482056633471e-08 0.0499999791552658 0 0.0499999733977686 0.0499999791552762
3 0.002 0.559809314390095 -0.292914056655931 0.00429163619695835 9.99999467954371e-05 -5.27078380940793e-11 1.1023126855747e-10 3.73590047786365e-11 8.86964113266941e-11 9.99999583105315e-05 0.124999924931701 -2.55427623496729e-07 4.50216253167213e-07 1.76723219391661e-07 3.45509211518991e-07 0.124999884896886 9.99999467955372e-05 9.99999583105524e-05 0.12499992493299 0.124999884897271
4 0.004 0.559809714389882 0.559809314389884 -0.29291405665549 -0.292914056655782 0.00429163619731314 0.0042920361967916 0.000499999699726805 -1.02171049398692e-09 1.80086501266885e-09 7.06892877566645e-10 1.38203684607596e-09 0.000499999539587542 0.299999780524474 -1.48488860096663e-06 2.51783663363092e-06 1.02245295563463e-06 1.90865379057215e-06 0.299999433996979 0.000499999699731958 0.000499999539589086 0.299999780541111 0.299999434002397
5 0.006 0.559811314388894 0.559809314386008 -0.292914056648728 -0.292914056653104 0.0042916362024865 0.0042936361951167 0.00129999906889333 -5.99226224196059e-09 1.01815778030812e-08 4.12717082731717e-09 7.72331157361528e-09 0.00129999769429845 0.49999952015517 -5.00186697616201e-06 8.36266125792129e-06 3.43832948224154e-06 6.30987709998587e-06 0.499998216783697 0.00129999906895614 0.00129999769431881 0.499999520264919 0.499998216820538
6 0.008 0.559814914386157 0.559809314365915 -0.292914056614764 -0.292914056639273 0.00429163622820639 0.00429723618756879 0.00249999778034748 -2.10291783986349e-08 3.5251510044354e-08 1.44602108065328e-08 2.66215452460195e-08 0.00249999240672233 0.699999088221714 -1.23088275683081e-05 2.04570457795761e-05 8.45479589117737e-06 1.54041571165386e-05 0.699995739690193 0.00249999778073776 0.00249999240685259 0.699999088690129 0.699995739849473
7 0.01 0.559821314380015 0.559809314301891 -0.292914056507722 -0.292914056595263 0.00429163630897268 0.00430363616474359 0.00409999542178019 -5.52275725151929e-08 9.20097609213855e-08 3.79463543920266e-08 6.93399400397698e-08 0.00409998065305922 0.899998415099246 -2.49193027324068e-05 4.13012367361798e-05 1.71093902934238e-05 3.10682677501228e-05 0.899991498596285 0.00409999542339895 0.00409998065360679 0.899998416583154 0.899991499103903
8 0.012 0.559831314367845 0.559809314145005 -0.292914056246725 -0.292914056487488 0.00429163650556615 0.00431363611018103 0.00609999144074447 -1.20706389328262e-07 2.00456456989073e-07 8.28977719802282e-08 1.50894616246511e-07 0.00609995840110747 1.09999742960165 -4.4341134930459e-05 7.33957374043914e-05 3.04341309098621e-05 5.51777738083681e-05 1.0999849891823 0.00609999144590447 0.00609995840286503 1.09999743343417 1.09998499049703
9 0.014 0.559845714345778 0.559809313819066 -0.292914055705896 -0.292914056263672 0.00429163691255115 0.00432803599834802 0.00849998514018679 -2.32592112237029e-07 3.85592710538951e-07 1.59682878031475e-07 2.90051035273242e-07 0.00849992060978841 1.2999960579893 -7.20702525436323e-05 0.000119240478602123 4.94503847592309e-05 8.96055313281962e-05 1.29997570688222 0.0084999851538816 0.00849992061447067 1.29999606654604 1.29997570982053
10 0.016 0.559865314308405 0.559809313214636 -0.292914054704354 -0.292914055848756 0.00429163766577029 0.00434763579262018 0.0112999756727017 -4.08987399502791e-07 6.77418371397564e-07 2.80699311017152e-07 5.09316741559296e-07 0.0112998612286363 1.49999422298374 -0.00010958457058452 0.000181333153354002 7.51633512374726e-05 0.000136219124521886 1.49996314679785 0.0112999757044849 0.0112998612395242 1.4999942401296 1.4999631526841
11 0.018 0.559890914248469 0.559809312183116 -0.292914052996222 -0.292914055140874 0.00429163894981811 0.00437323544326257 0.0144999620321218 -6.70930394575108e-07 1.11092532395496e-06 4.60336282981366e-07 8.34927533360785e-07 0.0144997731969798 1.69999184224112 -0.000158344372336305 0.00026216611173635 0.000108560615358355 0.000196876992139549 1.69994680364674 0.0144999620987171 0.0144997732198097 1.69999187385645 1.69994681448777
12 0.02 0.559923314156534 0.559809310530915 -0.292914050260653 -0.292914054007411 0.00429164100548042 0.0044056348854081 0.0180999430416662 -1.04236488884801e-06 1.72608281834297e-06 7.14941772450572e-07 1.29682471011749e-06 0.0180996484432233 1.8999888267146 -0.000219812813784248 0.000364221840187806 0.000150624648170838 0.000273423240645942 1.89992617181771 0.0180999431704267 0.0180996484873586 1.89998888129856 1.89992619050408
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<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M249.59,521.11 L259.71,521.11 '/> <g transform="translate(236.99,526.31)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="end">
<text><tspan font-family="Helvetica" >0</tspan></text>
</g>
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M249.59,374.41 L1737.59,374.41 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M249.59,374.41 L259.71,374.41 '/> <g transform="translate(236.99,379.61)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="end">
<text><tspan font-family="Helvetica" >2</tspan></text>
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</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M249.59,227.71 L1737.59,227.71 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M249.59,227.71 L259.71,227.71 '/> <g transform="translate(236.99,232.91)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="end">
<text><tspan font-family="Helvetica" >4</tspan></text>
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</g>
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</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M249.59,81.01 L1737.59,81.01 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M249.59,81.01 L259.71,81.01 '/> <g transform="translate(236.99,86.21)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="end">
<text><tspan font-family="Helvetica" >6</tspan></text>
</g>
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M249.59,961.21 L249.59,81.01 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M249.59,961.21 L249.59,951.09 '/> <g transform="translate(249.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >0</tspan></text>
</g>
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M497.59,961.21 L497.59,81.01 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M497.59,961.21 L497.59,951.09 '/> <g transform="translate(497.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >0.5</tspan></text>
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</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M745.59,961.21 L745.59,81.01 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M745.59,961.21 L745.59,951.09 '/> <g transform="translate(745.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >1</tspan></text>
</g>
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M993.59,961.21 L993.59,81.01 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M993.59,961.21 L993.59,951.09 '/> <g transform="translate(993.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >1.5</tspan></text>
</g>
</g>
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</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M1241.59,961.21 L1241.59,81.01 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M1241.59,961.21 L1241.59,951.09 '/> <g transform="translate(1241.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >2</tspan></text>
</g>
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M1489.59,961.21 L1489.59,81.01 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M1489.59,961.21 L1489.59,951.09 '/> <g transform="translate(1489.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >2.5</tspan></text>
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</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M1737.59,961.21 L1737.59,81.01 '/></g>
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</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M1737.59,961.21 L1737.59,951.09 '/> <g transform="translate(1737.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >3</tspan></text>
</g>
</g>
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</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M249.59,81.01 L249.59,961.21 L1737.59,961.21 L1737.59,81.01 L249.59,81.01 Z '/></g>
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<g transform="translate(192.41,521.11) rotate(270)" stroke="none" fill="rgb(0,0,0)" font-family="Helvetica" font-size="11.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >acceleration [m/s</tspan><tspan font-family="Helvetica" font-size="8.8" dy="-5.50px">2</tspan><tspan font-family="Helvetica" font-size="11.0" dy="5.50px">]</tspan></text>
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<g transform="translate(993.59,1032.29)" stroke="none" fill="rgb(0,0,0)" font-family="Helvetica" font-size="11.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >time [s]</tspan></text>
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</g>
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<g id="gnuplot_plot_1a" ><title>gnuplot_plot_1a</title>
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<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
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<text><tspan font-family="Helvetica" >5</tspan></text>
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</g>
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<text><tspan font-family="Helvetica" >10</tspan></text>
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</g>
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</g>
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</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
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<text><tspan font-family="Helvetica" >0</tspan></text>
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</g>
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<text><tspan font-family="Helvetica" >0.5</tspan></text>
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</g>
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</g>
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</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M745.59,961.21 L745.59,81.01 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M745.59,961.21 L745.59,951.09 '/> <g transform="translate(745.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >1</tspan></text>
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</g>
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</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
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<path stroke='rgb( 0, 0, 0)' d='M993.59,961.21 L993.59,951.09 '/> <g transform="translate(993.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >1.5</tspan></text>
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</g>
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</g>
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</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M1241.59,961.21 L1241.59,81.01 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M1241.59,961.21 L1241.59,951.09 '/> <g transform="translate(1241.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >2</tspan></text>
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</g>
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</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M1489.59,961.21 L1489.59,81.01 '/></g>
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</g>
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<path stroke='rgb( 0, 0, 0)' d='M1489.59,961.21 L1489.59,951.09 '/> <g transform="translate(1489.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >2.5</tspan></text>
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</g>
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</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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</g>
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<text><tspan font-family="Helvetica" >3</tspan></text>
</g>
</g>
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</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
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<g transform="translate(179.81,521.11) rotate(270)" stroke="none" fill="rgb(0,0,0)" font-family="Helvetica" font-size="11.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >jerk [m/s</tspan><tspan font-family="Helvetica" font-size="8.8" dy="-5.50px">3</tspan><tspan font-family="Helvetica" font-size="11.0" dy="5.50px">]</tspan></text>
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<text><tspan font-family="Helvetica" >time [s]</tspan></text>
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</g>
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<g id="gnuplot_plot_1a" ><title>gnuplot_plot_1a</title>
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<text><tspan font-family="Helvetica" >4</tspan></text>
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</g>
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<text><tspan font-family="Helvetica" >5</tspan></text>
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<text><tspan font-family="Helvetica" >0</tspan></text>
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<text><tspan font-family="Helvetica" >0.5</tspan></text>
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<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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<text><tspan font-family="Helvetica" >1</tspan></text>
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</g>
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</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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<text><tspan font-family="Helvetica" >1.5</tspan></text>
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</g>
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<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M1241.59,961.21 L1241.59,951.09 '/> <g transform="translate(1241.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >2</tspan></text>
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</g>
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</g>
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</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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</g>
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<text><tspan font-family="Helvetica" >2.5</tspan></text>
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</g>
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</g>
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<text><tspan font-family="Helvetica" >3</tspan></text>
</g>
</g>
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</g>
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<g transform="translate(205.01,521.11) rotate(270)" stroke="none" fill="rgb(0,0,0)" font-family="Helvetica" font-size="11.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >position [m]</tspan></text>
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<text><tspan font-family="Helvetica" >time [s]</tspan></text>
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<g id="gnuplot_plot_1a" ><title>gnuplot_plot_1a</title>
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<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M249.59,374.41 L259.71,374.41 '/> <g transform="translate(236.99,379.61)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="end">
<text><tspan font-family="Helvetica" >2</tspan></text>
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</g>
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</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M249.59,227.71 L1737.59,227.71 '/></g>
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<text><tspan font-family="Helvetica" >2.5</tspan></text>
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</g>
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</g>
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<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
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<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M249.59,81.01 L259.71,81.01 '/> <g transform="translate(236.99,86.21)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="end">
<text><tspan font-family="Helvetica" >3</tspan></text>
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</g>
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</g>
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</g>
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<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
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<text><tspan font-family="Helvetica" >0</tspan></text>
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</g>
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</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M497.59,961.21 L497.59,951.09 '/> <g transform="translate(497.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >0.5</tspan></text>
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</g>
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</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M745.59,961.21 L745.59,81.01 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M745.59,961.21 L745.59,951.09 '/> <g transform="translate(745.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >1</tspan></text>
</g>
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
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</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M993.59,961.21 L993.59,951.09 '/> <g transform="translate(993.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >1.5</tspan></text>
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</g>
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</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M1241.59,961.21 L1241.59,81.01 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M1241.59,961.21 L1241.59,951.09 '/> <g transform="translate(1241.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >2</tspan></text>
</g>
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M1489.59,961.21 L1489.59,81.01 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M1489.59,961.21 L1489.59,951.09 '/> <g transform="translate(1489.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >2.5</tspan></text>
</g>
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="rgb( 0, 0, 0)" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="0.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb(204, 204, 255)' opacity='0.20' class="gridline" d='M1737.59,961.21 L1737.59,81.01 '/></g>
<g fill="none" color="black" stroke="rgb(204, 204, 255)" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
<path stroke='rgb( 0, 0, 0)' d='M1737.59,961.21 L1737.59,951.09 '/> <g transform="translate(1737.59,993.41)" stroke="none" fill="rgb(38,38,38)" font-family="Helvetica" font-size="16.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >3</tspan></text>
</g>
</g>
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</g>
<g fill="none" color="black" stroke="currentColor" stroke-width="1.50" stroke-linecap="butt" stroke-linejoin="miter">
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<g transform="translate(179.81,521.11) rotate(270)" stroke="none" fill="rgb(0,0,0)" font-family="Helvetica" font-size="11.00" text-anchor="middle">
<text><tspan font-family="Helvetica" >velocity [m/s]</tspan></text>
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<text><tspan font-family="Helvetica" >time [s]</tspan></text>
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<g id="gnuplot_plot_1a" ><title>gnuplot_plot_1a</title>
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123
dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/bars.h vendored Normal file
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//
// Created by Alan Freitas on 2020-07-04.
//
#ifndef MATPLOTPLUSPLUS_BARS_H
#define MATPLOTPLUSPLUS_BARS_H
#include <matplot/detail/config.h>
#include <array>
#include <cmath>
#include <map>
#include <matplot/core/figure_type.h>
#include <matplot/util/concepts.h>
#include <matplot/util/handle_types.h>
#include <matplot/core/axes_object.h>
#include <matplot/core/line_spec.h>
#include <matplot/util/common.h>
namespace matplot {
class axes_type;
class MATPLOT_EXPORTS bars : public axes_object {
public:
explicit bars(class axes_type *parent);
bars(class axes_type *parent, const std::vector<double> &y);
bars(class axes_type *parent,
const std::vector<std::vector<double>> &Y);
bars(class axes_type *parent, const std::vector<double> &x,
const std::vector<double> &y);
bars(class axes_type *parent, const std::vector<double> &x,
const std::vector<std::vector<double>> &Y);
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
bars(const axes_handle &parent, Args &&... args)
: bars(parent.get(), std::forward<Args>(args)...) {}
virtual ~bars() = default;
public /* xlim object virtual functions */:
// std::string set_variables_string() override;
std::string plot_string() override;
std::string legend_string(std::string_view title) override;
std::string data_string() override;
// std::string unset_variables_string() override;
bool requires_colormap() override;
double xmax() override;
double xmin() override;
double ymax() override;
double ymin() override;
enum axes_object::axes_category axes_category() override;
public /* useful functions for bars */:
double x_minimum_difference();
double x_end_point(size_t cluster_index, size_t index);
double cluster_width();
double range_for_cluster();
public /* getters and setters */:
const color_array &face_color() const;
class bars &face_color(const color_array &face_color);
class bars &face_color(const std::array<float, 3> &face_color);
class bars &face_color(std::initializer_list<float> face_color);
class bars &face_color(std::string_view color);
const std::vector<color_array> &face_colors() const;
std::vector<color_array> &face_colors();
class bars &face_colors(const std::vector<color_array> &face_colors);
bool manual_face_color() const;
class bars &manual_face_color(bool manual_face_color);
const color_array &edge_color() const;
class bars &edge_color(const color_array &edge_color);
class bars &edge_color(const std::array<float, 3> &edge_color);
class bars &edge_color(std::initializer_list<float> face_color);
class bars &edge_color(std::string_view edge_color);
const line_spec &edge_style() const;
class bars &edge_style(const line_spec &edge_style);
float line_width() const;
class bars &line_width(float line_width);
bool vertical_orientation() const;
class bars &vertical_orientation(bool vertical_orientation);
bool visible() const;
class bars &visible(bool visible);
float bar_width() const;
class bars &bar_width(float bar_width);
public /* getters and setters bypassing the bars_spec */:
private:
/// If the user has not set the face color,
/// we get a color from the xlim
void maybe_update_face_colors();
protected:
// original data
std::vector<double> x_;
std::vector<std::vector<double>> ys_;
// color and style
std::vector<color_array> face_colors_{{0.4f, 0, 0, 0}};
bool manual_face_color_{false};
color_array edge_color_{0, 0, 0, 0};
line_spec edge_style_{"-"};
float line_width_{0.5};
bool vertical_orientation_{true};
float bar_width_{0.8f};
float cluster_width_{0.8f};
// True if visible
bool visible_{true};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_BARS_H

147
dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/box_chart.h vendored Normal file
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//
// Created by Alan Freitas on 2020-07-04.
//
#ifndef MATPLOTPLUSPLUS_BOX_CHART_H
#define MATPLOTPLUSPLUS_BOX_CHART_H
#include <matplot/detail/config.h>
#include <array>
#include <cmath>
#include <map>
#include <matplot/core/figure_type.h>
#include <matplot/util/concepts.h>
#include <matplot/util/handle_types.h>
#include <matplot/core/axes_object.h>
#include <matplot/core/line_spec.h>
#include <matplot/util/common.h>
namespace matplot {
class axes_type;
class MATPLOT_EXPORTS box_chart : public axes_object {
public:
enum class box_style_option {
outline, // unfilled / dashed whiskers
filled, // filled / solid whiskers
violin, // show data distribution
};
public:
explicit box_chart(class axes_type *parent);
box_chart(class axes_type *parent, const std::vector<double> &y_data,
const std::vector<double> &groups = {});
// box_chart(class xlim* parent, const std::vector<double>& data,
// const std::vector<double>& edges, enum
// box_chart::normalization normalization_alg =
// box_chart::normalization::count); box_chart(class xlim*
// parent, const std::vector<double>& data, binning_algorithm
// algorithm = binning_algorithm::automatic,
// box_chart::normalization normalization_alg =
// box_chart::normalization::count);
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
box_chart(const axes_handle &parent, Args&&... args)
: box_chart(parent.get(), std::forward<Args>(args)...) {}
virtual ~box_chart() = default;
public /* xlim object virtual functions */:
std::string set_variables_string() override;
std::string plot_string() override;
// std::string legend_string(const std::string& title) override;
std::string data_string() override;
std::string unset_variables_string() override;
bool requires_colormap() override;
// double xmax() override;
// double xmin() override;
// double ymax() override;
// double ymin() override;
enum axes_object::axes_category axes_category() override;
public /* useful functions for box_charts */:
public /* getters and setters */:
const std::vector<double> &y_data() const;
class box_chart &y_data(const std::vector<double> &y_data);
const std::vector<double> &x_data() const;
class box_chart &x_data(const std::vector<double> &x_data);
const color_array &face_color() const;
class box_chart &face_color(const color_array &face_color);
bool manual_face_color() const;
class box_chart &manual_face_color(bool manual_face_color);
const color_array &edge_color() const;
class box_chart &edge_color(const color_array &edge_color);
float edge_width() const;
class box_chart &edge_width(float edge_width);
enum line_spec::marker_style whisker_style() const;
class box_chart &
whisker_style(enum line_spec::marker_style whisker_style);
float whisker_size() const;
class box_chart &whisker_size(float whisker_size);
bool whisker_face() const;
class box_chart &whisker_face(bool whisker_face);
bool jitter_outliers() const;
class box_chart &jitter_outliers(bool jitter_outliers);
float box_width() const;
class box_chart &box_width(float box_width);
float cap_size() const;
class box_chart &cap_size(float cap_size);
public /* getters and setters bypassing the line_spec */:
box_style_option box_style() const;
class box_chart &box_style(box_style_option box_style);
private /* helper functions to generate the plot */:
void maybe_update_face_color();
protected:
// sample data
std::vector<double> y_data_;
// sample groups (same length as y_data_)
// this describes the groups and the positions at the same time
std::vector<double> x_data_;
// color and style
color_array face_color_{{0.4f, 0, 0, 0}};
bool manual_face_color_{false};
color_array edge_color_{0, 0, 0, 0};
float edge_width_{0.5};
enum line_spec::marker_style whisker_style_{
line_spec::marker_style::circle};
float whisker_size_{1.};
bool whisker_face_{false};
bool jitter_outliers_{false};
float box_width_{0.5};
box_style_option box_style_{box_style_option::filled};
float cap_size_{3.};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_BOX_CHART_H

120
dependency/x86/third_party/matplotplusplus/1.2.0/include/matplot/axes_objects/circles.h vendored Normal file
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//
// Created by Alan Freitas on 16/07/20.
//
#ifndef MATPLOTPLUSPLUS_CIRCLES_H
#define MATPLOTPLUSPLUS_CIRCLES_H
#include <matplot/detail/config.h>
#include <matplot/core/figure_type.h>
#include <matplot/core/axes_object.h>
#include <matplot/core/axis_type.h>
#include <matplot/core/line_spec.h>
#include <matplot/util/concepts.h>
#include <matplot/util/handle_types.h>
namespace matplot {
class axes_type;
class MATPLOT_EXPORTS circles : public axes_object {
public:
explicit circles(class axes_type *parent);
circles(class axes_type *parent, const std::vector<double> &x,
const std::vector<double> &y,
const std::vector<double> &radius = {},
const std::vector<double> &start_angle = {},
const std::vector<double> &end_angle = {},
const std::vector<double> &color = {});
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
circles(const axes_handle &parent, Args&&... args)
: circles(parent.get(), std::forward<Args>(args)...) {}
virtual ~circles() = default;
public /* mandatory virtual functions */:
// std::string set_variables_string() override;
std::string plot_string() override;
std::string legend_string(std::string_view title) override;
std::string data_string() override;
// std::string unset_variables_string() override;
bool requires_colormap() override;
double xmax() override;
double xmin() override;
double ymax() override;
double ymin() override;
enum axes_object::axes_category axes_category() override;
public /* getters and setters */:
const std::vector<double> &x() const;
class circles &x(const std::vector<double> &x);
const std::vector<double> &y() const;
class circles &y(const std::vector<double> &y);
const std::vector<double> &radius() const;
class circles &radius(const std::vector<double> &radius);
const std::vector<double> &start_angle() const;
class circles &start_angle(const std::vector<double> &start_angle);
const std::vector<double> &end_angle() const;
class circles &end_angle(const std::vector<double> &end_angle);
const std::vector<double> &color() const;
class circles &color(const std::vector<double> &color);
const labels_handle &labels() const;
class circles &labels(const labels_handle &labels);
const color_array &face_color() const;
class circles &face_color(const color_array &face_color);
float line_width() const;
class circles &line_width(float line_width);
const color_array &line_color() const;
class circles &line_color(const color_array &line_color);
bool visible() const;
class circles &visible(bool visible);
public /* getters and setters bypassing the line_spec */:
protected:
void maybe_update_circles_color();
protected:
std::vector<double> x_{}; // x position
std::vector<double> y_{}; // y position
std::vector<double> radius_{}; // 1
std::vector<double> start_angle_{}; // 0
std::vector<double> end_angle_{}; // 360
std::vector<double> color_{}; // colormap
// Labels around circles
labels_handle labels_;
// Style
color_array face_color_;
bool user_face_color_{false};
float line_width_{2.};
color_array line_color_{0., 0., 0., 0.};
bool visible_{true};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_CIRCLES_H

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//
// Created by Alan Freitas on 2020-07-04.
//
#ifndef MATPLOTPLUSPLUS_CONTOURS_H
#define MATPLOTPLUSPLUS_CONTOURS_H
#include <matplot/detail/config.h>
#include <array>
#include <matplot/util/common.h>
#include <matplot/util/concepts.h>
#include <matplot/util/contourc.h>
#include <matplot/util/handle_types.h>
#include <matplot/core/figure_type.h>
#include <matplot/core/axes_object.h>
#include <matplot/core/line_spec.h>
namespace matplot {
class axes_type;
/// Create and store a set of contour lines or filled regions.
/// We have a class just for contours instead of using the
/// gnuplot surface. So we include functions here to
/// calculate the contour lines outside gnuplot.
/// The reason is that converting the gnuplot contours to
/// 2d xlim involves workarounds a 3d map view or plotting to a
/// temporary table, that don't interact well with other 2d
/// objects. It's also no possible to plot filled contours
/// with gnuplot. At most, one can plot a very high resolution
/// under the contour lines, but this is very. The only
/// way to have full control of how the contour lines will look
/// like is to calculate the contour lines outside gnuplot,
/// even if our algorithm is not perfect.
class MATPLOT_EXPORTS contours : public axes_object {
public:
/// X, Y grids and their Z values
/// Every X column has the same value for all rows.
/// This value increases in the next column.
/// Every Y row has the same value for all columns.
/// This value increases in the next rows.
/// Thus, the high values indices represent values
/// that are graphically on the top:
/// (X[3][0], Y[3][0]) (X[3][1], Y[3][1]) (X[3][2], Y[3][2])
/// (X[2][0], Y[2][0]) (X[2][1], Y[2][1]) (X[2][2], Y[2][2])
/// (X[1][0], Y[1][0]) (X[1][1], Y[1][1]) (X[1][2], Y[1][2])
/// (X[0][0], Y[0][0]) (X[0][1], Y[0][1]) (X[0][2], Y[0][2])
/// \param parent Parent xlim
/// \param X X grid
/// \param Y Y grid
/// \param Z Z heights
/// \param line_spec Line properties
contours(class axes_type *parent, const vector_2d &X,
const vector_2d &Y, const vector_2d &Z,
std::string_view line_spec = "");
contours(class axes_type *parent, const vector_2d &Z,
std::string_view line_spec = "");
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
contours(const axes_handle &parent, Args &&... args)
: contours(parent.get(), std::forward<Args>(args)...) {}
virtual ~contours() = default;
public /* mandatory virtual functions */:
std::string set_variables_string() override;
std::string plot_string() override;
std::string legend_string(std::string_view title) override;
std::string data_string() override;
bool requires_colormap() override;
double xmax() override;
double xmin() override;
double ymax() override;
double ymin() override;
enum axes_object::axes_category axes_category() override;
public /* getters and setters */:
class contours &line_style(std::string_view line_spec);
const matplot::line_spec &line_spec() const;
matplot::line_spec &line_spec();
class contours &line_spec(const class line_spec &line_spec);
const vector_2d &Y_data() const;
class contours &Y_data(const vector_2d &Y_data);
const vector_2d &X_data() const;
class contours &X_data(const vector_2d &X_data);
const vector_2d &Z_data() const;
class contours &Z_data(const vector_2d &Z_data);
const vector_2d &x_data() const;
class contours &x_data(const vector_2d &x_data);
const vector_2d &y_data() const;
class contours &y_data(const vector_2d &y_data);
const vector_2d &z_data() const;
class contours &z_data(const vector_2d &z_data);
bool contour_text() const;
class contours &contour_text(bool contour_text);
float font_size() const;
class contours &font_size(const float &font_size);
const std::string font() const;
class contours &font(std::string_view font);
const std::string &font_weight() const;
class contours &font_weight(std::string_view font_weight);
const color_array &font_color() const;
class contours &font_color(const color_array &font_color);
class contours &font_color(std::string_view font_color);
bool visible() const;
class contours &visible(bool visible);
size_t n_levels() const;
class contours &n_levels(size_t n_levels);
const std::vector<double> &levels() const;
class contours &levels(const std::vector<double> &levels);
bool filled() const;
class contours &filled(bool filled);
bool colormap_line_when_filled() const;
class contours &
colormap_line_when_filled(bool colormap_line_when_filled);
public /* getters and setters bypassing the line_spec */:
float line_width() const;
class contours &line_width(float line_width);
const std::array<float, 4> &color() const;
template <class T> contours &color(T c) {
line_spec().color(c);
return *this;
}
inline class contours &color(std::initializer_list<float> c) {
line_spec().color(c);
return *this;
}
protected:
void make_sure_data_is_preprocessed();
void clear_preprocessed_data();
bool is_lower_level(size_t line_index, size_t segment_begin,
size_t segment_end);
std::pair<vector_1d, vector_1d>
fill_border_jump(double start_x, double start_y, double end_x,
double end_y, double x_min, double x_max, double y_min,
double y_max, bool is_parent);
public:
enum class extend_option { neither, min, max, both };
/// Determine some automatic contour levels for data ranging from z_min
/// to z_max Each library will use a different algorithm to determine
/// levels. In our case, this is similar to the algorithm for automatic
/// histogram edges. The difference is that the final histogram edges
/// fall outside the range [z_min,z_max] while we want all contour lines
/// to fall inside [z_min,z_max] Select contour levels to span the data.
// The target number of levels, *N*, is used only when the
// scale is not log and default locator is used.
//
// We need two more levels for filled contours than for
// line contours, because for the latter we need to specify
// the lower and upper boundary of each range.
//
// For example,
// a single contour boundary, say at z = 0, requires only
// one contour line, but two filled regions, and therefore
// three levels to provide boundaries for both regions.
/// Assign values to :attr:`layers` based on :attr:`levels`,
/// adding extended layers as needed if contours are filled.
/// For line contours, layers simply coincide with levels;
/// a line is a thin layer. No extended levels are needed
/// with line contours.
static std::vector<double>
determine_contour_levels(double z_min, double z_max, size_t n_levels_,
extend_option ext = extend_option::neither);
static std::vector<double>
determine_contour_levels(const vector_2d &Z, size_t n_levels_,
extend_option ext = extend_option::neither);
/// Return ``(lowers, uppers)`` levels for filled contours.
std::pair<vector_1d, vector_1d> get_lowers_and_uppers();
void process_contour_levels();
void initialize_preprocessed_data();
void check_xyz();
void initialize_x_y();
void process_all_segs_and_all_kinds();
double zmin() override;
double zmax() override;
protected:
/// Pre-processed contour lines
std::vector<QuadContourGenerator::vertices_list_type> lines_;
/// Pre-processed contour lines for filled plots
/// This uses another algorithm for pairs of levels
/// We generate the lines twice for filled plots because
/// the closed polygons of filled plots are not good enough
/// to represent everything.
/// Also, this makes it much easier to label the unfilled lines.
std::vector<QuadContourGenerator::vertices_list_type> filled_lines_;
/// These codes indicate what's happening in a filled line
/// Starting a polygon, closing a polygon, or middle of a polygon
std::vector<QuadContourGenerator::codes_list_type> codes_;
/// Object with the algorithm to generate contour lines
QuadContourGenerator contour_generator_;
/// Segments of filled contours
using level_index_type = size_t;
using begin_index_type = size_t;
using end_index_type = size_t;
using area_type = double;
using line_segment_type =
std::tuple<level_index_type, begin_index_type, end_index_type>;
using parent_and_children_type =
std::tuple<line_segment_type, std::vector<line_segment_type>,
area_type>;
std::vector<parent_and_children_type> line_segments_;
protected:
/// Line style
class line_spec line_spec_;
/// Data in the xlim
vector_2d X_data_{};
vector_2d Y_data_{};
vector_2d Z_data_{};
/// Parameters
size_t n_levels_{0};
bool manual_n_levels_{false};
std::vector<double> levels_{};
bool manual_levels_{false};
std::vector<double> _levels{};
std::vector<double> layers_ = {};
/// Style
bool filled_{false};
vector_1d linewidths_ = {};
bool antialiased_ = false;
bool _corner_mask = false;
bool colormap_line_when_filled_ = false;
/// Pre-processed data
std::vector<class line_spec> linestyles_{};
vector_1d extent_ = {};
std::vector<color_array> cmap_ = {};
std::vector<color_array> colors_ = {};
double norm_ = NaN;
double vmin_ = NaN;
double vmax_ = NaN;
extend_option extend_ = extend_option::neither;
size_t nchunk_ = 0;
double zmin_{NaN};
double zmax_{NaN};
/// Text around the lines
bool contour_text_{false};
std::optional<float> font_size_{std::nullopt};
std::optional<std::string> font_{std::nullopt};
std::string font_weight_{"normal"};
color_array font_color_{0, 0, 0, 0};
/// True if visible
bool visible_{true};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_CONTOURS_H

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//
// Created by Alan Freitas on 09/07/20.
//
#ifndef MATPLOTPLUSPLUS_ERROR_BAR_H
#define MATPLOTPLUSPLUS_ERROR_BAR_H
#include <matplot/detail/config.h>
#include <matplot/axes_objects/line.h>
namespace matplot {
class axes_type;
class MATPLOT_EXPORTS error_bar : public line {
public:
enum class type { vertical, horizontal, both };
public:
explicit error_bar(class axes_type *parent);
/// Construct with x and y error
error_bar(class axes_type *parent, const std::vector<double> &x,
const std::vector<double> &y,
const std::vector<double> &y_neg_delta,
const std::vector<double> &y_pos_delta,
const std::vector<double> &x_neg_delta,
const std::vector<double> &x_pos_delta,
std::string_view line_spec = "");
/// Construct with y error only
error_bar(class axes_type *parent, const std::vector<double> &x_data,
const std::vector<double> &y_data,
const std::vector<double> &error,
error_bar::type type = error_bar::type::vertical,
std::string_view line_spec = "");
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership of the xlim
template <class... Args>
error_bar(const axes_handle &parent, Args&&... args)
: error_bar(parent.get(), std::forward<Args>(args)...) {}
public /* override the plotting function for error_bar */:
std::string set_variables_string() override;
std::string plot_string() override;
std::string data_string() override;
bool requires_colormap() override;
std::string unset_variables_string() override;
enum axes_object::axes_category axes_category() override;
public /* methods for error_bar only */:
const std::vector<double> &x_negative_delta() const;
class error_bar &
x_negative_delta(const std::vector<double> &x_negative_delta);
const std::vector<double> &x_positive_delta() const;
class error_bar &
x_positive_delta(const std::vector<double> &x_positive_delta);
const std::vector<double> &y_negative_delta() const;
class error_bar &
y_negative_delta(const std::vector<double> &y_negative_delta);
const std::vector<double> &y_positive_delta() const;
class error_bar &
y_positive_delta(const std::vector<double> &y_positive_delta);
float filled_curve_alpha() const;
class error_bar &filled_curve_alpha(float filled_curve_alpha);
bool filled_curve() const;
class error_bar &filled_curve(bool filled_curve);
float cap_size() const;
class error_bar &cap_size(float cap_size);
protected:
std::vector<double> x_negative_delta_{};
std::vector<double> x_positive_delta_{};
std::vector<double> y_negative_delta_{};
std::vector<double> y_positive_delta_{};
bool filled_curve_{false};
float filled_curve_alpha_{0.9f};
float cap_size_{3.};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_ERROR_BAR_H

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//
// Created by Alan Freitas on 09/07/20.
//
#ifndef MATPLOTPLUSPLUS_FILLED_AREA_H
#define MATPLOTPLUSPLUS_FILLED_AREA_H
#include <matplot/detail/config.h>
#include <matplot/axes_objects/line.h>
namespace matplot {
class axes_type;
class MATPLOT_EXPORTS filled_area : public line {
public:
enum class type { vertical, horizontal, both };
public:
explicit filled_area(class axes_type *parent);
/// Construct with x and y error
filled_area(class axes_type *parent, const std::vector<double> &x,
const std::vector<double> &y,
const std::vector<double> &base_values = {0.},
bool stacked = true, std::string_view line_spec = "k-");
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership of the xlim
template <class... Args>
filled_area(const axes_handle &parent, Args&&... args)
: filled_area(parent.get(), std::forward<Args>(args)...) {}
public /* override the plotting function for filled_area */:
std::string plot_string() override;
std::string data_string() override;
enum axes_object::axes_category axes_category() override;
public /* methods for filled_area only */:
bool stacked() const;
class filled_area &stacked(bool stacked);
const std::vector<double> &base_data() const;
class filled_area &base_data(const std::vector<double> &base_data);
bool plot_base_line() const;
class filled_area &plot_base_line(bool plot_base_line);
const color_array &face_color() const;
class filled_area &face_color(const color_array &face_color);
bool fill_user_color() const;
class filled_area &fill_user_color(bool fill_user_color);
private:
void maybe_update_face_color();
protected:
bool stacked_{true};
std::vector<double> base_data_{0.};
bool plot_base_line_{true};
color_array face_color_{0, 0, 0, 0};
bool fill_user_color_{false};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_FILLED_AREA_H

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//
// Created by Alan Freitas on 2020-07-06.
//
#ifndef MATPLOTPLUSPLUS_FUNCTION_LINE_H
#define MATPLOTPLUSPLUS_FUNCTION_LINE_H
#include <matplot/detail/config.h>
#include <matplot/axes_objects/line.h>
#include <matplot/core/line_spec.h>
#include <matplot/util/handle_types.h>
#include <string>
namespace matplot {
class MATPLOT_EXPORTS function_line : public line {
public:
using function_type = std::function<double(double)>;
public:
explicit function_line(class axes_type *parent);
function_line(class axes_type *parent, const function_type &equation,
std::array<double, 2> x_range = {-5, 5},
std::string_view line_spec = "");
function_line(class axes_type *parent, const function_type &function_x,
const function_type &function_y,
std::array<double, 2> t_range = {-5, 5},
std::string_view line_spec = "");
function_line(class axes_type *parent, const function_type &function_x,
const function_type &function_y,
const function_type &function_z,
std::array<double, 2> t_range = {-5, 5},
std::string_view line_spec = "");
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
function_line(const axes_handle &parent, Args&&... args)
: function_line(parent.get(), std::forward<Args>(args)...) {}
public:
std::string plot_string() override;
double xmax() override;
double xmin() override;
double ymax() override;
double ymin() override;
enum axes_object::axes_category axes_category() override;
public:
const function_type &fn() const;
class function_line &fn(const function_type &fn);
class function_line &tmin(double x);
class function_line &tmax(double x);
double tmin();
double tmax();
const std::array<double, 2> &t_range() const;
class function_line &t_range(const std::array<double, 2> &t_range);
class function_line &t_range(double t_min, double t_max);
size_t mesh_density() const;
class function_line &mesh_density(size_t mesh_density);
bool automatic_mesh_density() const;
class function_line &
automatic_mesh_density(bool automatic_mesh_density);
private:
void make_sure_data_is_preprocessed();
private:
std::array<double, 2> t_range_;
std::vector<double> t_data_{};
size_t mesh_density_{30};
bool automatic_mesh_density_{true};
function_type fn_x_{nullptr};
function_type fn_y_{nullptr};
function_type fn_z_{nullptr};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_FUNCTION_LINE_H

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//
// Created by Alan Freitas on 2020-07-04.
//
#ifndef MATPLOTPLUSPLUS_HISTOGRAM_H
#define MATPLOTPLUSPLUS_HISTOGRAM_H
#include <matplot/detail/config.h>
#include <matplot/core/axes_object.h>
#include <matplot/core/figure_type.h>
#include <matplot/core/line_spec.h>
#include <matplot/util/common.h>
#include <matplot/util/concepts.h>
#include <matplot/util/handle_types.h>
#include <array>
#include <cmath>
#include <map>
namespace matplot {
class axes_type;
class MATPLOT_EXPORTS histogram : public axes_object {
public:
// source code in 'edit histcount'
enum class binning_algorithm {
automatic, // Scott's rule for doubles or integers rule for data
// distributed around integers
scott, // Scott’s rule - bin_width = 3.5*std(x)*|X|^(-1/3)
fd, // Freedman-Diaconis rule - bin width =
// 2*IQR(X(:))*numel(X)^(-1/3) (for heavy tailed distributions,
// less sensitive to outliers) - IQR = interquartile range of X
integers, // Integer rule - bin width = 1
sturges, // Sturges' rule - number of bins = ceil(1+log2(numel(X)))
sqrt // Square root rule - number of bins = ceil(sqrt(numel(X)))
};
enum class normalization {
count, // value_i = count_i
count_density, // value_i = count_i / bin_width_i
cummulative_count, // value_i = sum_j=1^i count_j
probability, // value_i = count_i / size -> (sum(heights) <= 1)
pdf, // value_i = count_i / (size * width_i) -> (sum(areas) <= 1)
cdf // value_i = sum_j=1^i count_j / size
};
public:
explicit histogram(class axes_type *parent);
histogram(class axes_type *parent, const std::vector<double> &data,
size_t n_bins,
enum histogram::normalization normalization_alg =
histogram::normalization::count);
histogram(class axes_type *parent, const std::vector<double> &data,
const std::vector<double> &edges,
enum histogram::normalization normalization_alg =
histogram::normalization::count);
histogram(class axes_type *parent, const std::vector<double> &data,
binning_algorithm algorithm = binning_algorithm::automatic,
histogram::normalization normalization_alg =
histogram::normalization::count);
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
histogram(const axes_handle &parent, Args&&... args)
: histogram(parent.get(), std::forward<Args>(args)...) {}
virtual ~histogram() = default;
public /* xlim object virtual functions */:
// std::string set_variables_string() override;
std::string plot_string() override;
std::string legend_string(std::string_view title) override;
std::string data_string() override;
// std::string unset_variables_string() override;
double xmax() override;
double xmin() override;
double ymax() override;
double ymin() override;
enum axes_object::axes_category axes_category() override;
public /* useful functions for histograms */:
/// Increase number of bins
size_t morebins(double bin_increase = 0.1);
/// Decrease number of bins
size_t fewerbins(double bin_decrease = 0.1);
/// Find appropriate edges given a fixed number of bins and target bin
/// width If nbins == 0, round the bin width and create
/// (xmax-xmin)/bin_width bins If nbins != 0, bin width is set to
/// (xmax-xmin)/nbins and create nbins bins
static std::vector<double> bin_picker(double xmin, double xmax,
size_t nbins, double bin_width);
/// Find appropriate edges with a given algorithm
static std::vector<double> histogram_edges(
const std::vector<double> &data, double minx, double maxx,
binning_algorithm algorithm = binning_algorithm::automatic,
bool hard_limits = false);
/// Count points within each pair of edges
static std::vector<size_t>
histogram_count(const std::vector<double> &values,
const std::vector<double> &edges);
/// Normalize the instagram count
static std::vector<double>
histogram_normalize(const std::vector<size_t> &bin_count,
const std::vector<double> &bin_edges,
size_t data_size,
enum normalization normalization_algorithm);
public /* getters and setters */:
const std::vector<double> &data() const;
class histogram &data(const std::vector<double> &data);
const std::vector<double> &values() const;
class histogram &values(const std::vector<double> &values);
const std::vector<size_t> &bin_counts() const;
class histogram &bin_counts(const std::vector<size_t> &bin_counts);
size_t num_bins();
class histogram &num_bins(size_t num_bins);
binning_algorithm algorithm() const;
class histogram &algorithm(binning_algorithm algorithm);
std::vector<double> &bin_edges();
class histogram &bin_edges(const std::vector<double> &bin_edges);
double bin_width() const;
class histogram &bin_width(double bin_width);
double bin_limits_min() const;
class histogram &bin_limits_min(double bin_limits_min);
double bin_limits_max() const;
class histogram &bin_limits_max(double bin_limits_max);
normalization normalization() const;
class histogram &normalization(enum normalization normalization);
const color_array &face_color() const;
class histogram &face_color(const color_array &face_color);
class histogram &face_color(std::initializer_list<float> face_color);
class histogram &face_color(std::string_view color);
class histogram &face_alpha(float alpha);
class histogram &edge_alpha(float alpha);
bool manual_face_color() const;
class histogram &manual_face_color(bool manual_face_color);
const color_array &edge_color() const;
class histogram &edge_color(const color_array &edge_color);
class histogram &edge_color(std::initializer_list<float> face_color);
class histogram &edge_color(std::string_view edge_color);
const line_spec &edge_style() const;
class histogram &edge_style(const line_spec &edge_style);
float line_width() const;
class histogram &line_width(float line_width);
bool vertical_orientation() const;
class histogram &vertical_orientation(bool vertical_orientation);
bool visible() const;
class histogram &visible(bool visible);
float bar_width() const;
class histogram &bar_width(float bar_width);
bool polar() const;
class histogram &polar(bool polar);
bool stairs_only() const;
class histogram &stairs_only(bool stairs_only);
/// Algorithms to determine histogram edges
static std::vector<double> scotts_rule(const std::vector<double> &x,
double minx, double maxx,
bool hard_limits);
static std::vector<double> fd_rule(const std::vector<double> &x,
double minx, double maxx,
bool hard_limits);
static std::vector<double> integers_rule(const std::vector<double> &x,
double minx, double maxx,
bool hard_limits);
static std::vector<double> sqrt_rule(const std::vector<double> &x,
double minx, double maxx,
bool hard_limits);
static std::vector<double> sturges_rule(const std::vector<double> &x,
double minx, double maxx,
bool hard_limits);
static std::vector<double> automatic_rule(const std::vector<double> &x,
double minx, double maxx,
bool hard_limits);
public /* getters and setters bypassing the histogram_spec */:
private:
/// If the user has not set the face color,
/// we get a color from the xlim
void maybe_update_face_color();
/// Make sure we have already calculated the normalized values
/// for the current parameters. We reset the normalized values
/// every time the user changes the algorithm.
void make_sure_data_is_preprocessed();
protected:
// original data
std::vector<double> data_;
// normalized values (in the simplest case, values_ = bin_counts_)
std::vector<double> values_;
// number of elements in each bin
std::vector<size_t> bin_counts_;
// target num of bins (0 indicates no target: the algorithm should
// decide)
size_t num_bins_{0};
// algorithm we use to create the bins
binning_algorithm algorithm_;
// where edges start
std::vector<double> bin_edges_;
// binning mode
enum binning_mode_type {
use_algorithm, // use algorithm to decide everything
use_bin_limits, // use algorithm with bin limits
use_fixed_num_bins, // use fixed num of bins
use_fixed_bin_width, // use fixed num of bins
use_fixed_edges, // use fixed edges, including edges of variable
// size
};
binning_mode_type binning_mode_{binning_mode_type::use_algorithm};
// bin width (if zero, the algorithm determines the bin width)
double bin_width_{0.0};
// bin limits
double bin_limits_min_;
double bin_limits_max_;
// normalization algorithm
enum normalization normalization_ { normalization::count };
// color and style
color_array face_color_{0.4f, 0, 0, 0};
bool manual_face_color_{false};
color_array edge_color_{0, 0, 0, 0};
bool manual_edge_color_{false};
line_spec edge_style_{"-"};
float line_width_{0.5};
bool vertical_orientation_{true};
float bar_width_{1.0};
bool polar_{false};
bool stairs_only_{false};
// True if visible
bool visible_{true};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_HISTOGRAM_H

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//
// Created by Alan Freitas on 16/07/20.
//
#ifndef MATPLOTPLUSPLUS_LABELS_H
#define MATPLOTPLUSPLUS_LABELS_H
#include <matplot/detail/config.h>
#include <matplot/core/figure_type.h>
#include <matplot/core/axes_object.h>
#include <matplot/core/axis_type.h>
#include <matplot/core/line_spec.h>
#include <matplot/util/concepts.h>
#include <matplot/util/handle_types.h>
namespace matplot {
class axes_type;
class MATPLOT_EXPORTS labels : public axes_object {
public:
enum alignment { left, right, center, automatic };
public:
static constexpr double width_factor = 0.04;
static constexpr double height_factor = 0.08;
public:
explicit labels(class axes_type *parent);
labels(class axes_type *parent, const std::vector<double> &x,
const std::vector<double> &y,
const std::vector<std::string> &labels = {},
const std::vector<double> &color = {},
const std::vector<double> &sizes = {});
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
labels(const axes_handle &parent, Args&&... args)
: labels(parent.get(), std::forward<Args>(args)...) {}
virtual ~labels() = default;
public /* mandatory virtual functions */:
std::string set_variables_string() override;
std::string plot_string() override;
// std::string legend_string(const std::string& title) override;
std::string data_string() override;
std::string unset_variables_string() override;
double xmax() override;
double xmin() override;
double ymax() override;
double ymin() override;
enum axes_object::axes_category axes_category() override;
public /* getters and setters */:
bool rectangles() const;
class labels &rectangles(bool rectangles);
bool absolute_size() const;
class labels &absolute_size(bool absolute_size);
enum alignment alignment() const;
class labels &alignment(enum alignment alignment);
const std::vector<double> &x() const;
class labels &x(const std::vector<double> &x);
const std::vector<double> &y() const;
class labels &y(const std::vector<double> &y);
const std::vector<std::string> &label_values() const;
class labels &label_values(const std::vector<std::string> &labels);
const std::vector<double> &colors() const;
class labels &colors(const std::vector<double> &colors);
const std::vector<double> &sizes() const;
class labels &sizes(const std::vector<double> &sizes);
bool visible() const;
class labels &visible(bool visible);
const color_array &color() const;
class labels &color(const color_array &color);
template <class T> labels &color(T c) {
color(to_array(c));
return *this;
}
const std::string &font() const;
class labels &font(std::string_view font);
float font_size() const;
class labels &font_size(float font_size);
public /* getters and setters bypassing the line_spec */:
protected:
class line_spec line_spec_;
std::vector<double> x_{}; // x position
std::vector<double> y_{}; // y position
std::vector<std::string> labels_{}; // 1
std::vector<double> colors_{}; // colormap
std::vector<double> sizes_{}; // colormap
bool rectangles_{false}; // plot rectangles behind the words
bool absolute_size_{true}; // reduce font size for
bool visible_{true};
enum alignment alignment_ { alignment::automatic };
std::string font_{"Helvetica"};
float font_size_{10};
color_array color_{0, 0, 0, 0};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_LABELS_H

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//
// Created by Alan Freitas on 2020-07-04.
//
#ifndef MATPLOTPLUSPLUS_LINE_H
#define MATPLOTPLUSPLUS_LINE_H
#include <matplot/detail/config.h>
#include <matplot/core/axes_object.h>
#include <matplot/core/figure_type.h>
#include <matplot/core/line_spec.h>
#include <matplot/util/concepts.h>
#include <matplot/util/handle_types.h>
#include <array>
namespace matplot {
class axes_type;
class MATPLOT_EXPORTS line : public axes_object {
public:
explicit line(class axes_type *parent);
line(class axes_type *parent, const std::vector<double> &y_data,
std::string_view line_spec = "");
line(class axes_type *parent, const std::vector<double> &x_data,
const std::vector<double> &y_data,
std::string_view line_spec = "");
line(class axes_type *parent, const std::vector<double> &x_data,
const std::vector<double> &y_data,
const std::vector<double> &z_data,
std::string_view line_spec = "");
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
line(const axes_handle &parent, Args &&... args)
: line(parent.get(), std::forward<Args>(args)...) {}
virtual ~line() = default;
public /* mandatory virtual functions */:
void run_draw_commands() override;
std::string plot_string() override;
std::string legend_string(std::string_view title) override;
std::string data_string() override;
double xmax() override;
double xmin() override;
double ymax() override;
double ymin() override;
enum axes_object::axes_category axes_category() override;
bool requires_colormap() override;
public /* getters and setters */:
class line &line_style(std::string_view line_spec);
const matplot::line_spec &line_spec() const;
matplot::line_spec &line_spec();
class line &line_spec(const class line_spec &line_spec);
const std::vector<double> &y_data() const;
class line &y_data(const std::vector<double> &y_data);
const std::vector<double> &x_data() const;
class line &x_data(const std::vector<double> &x_data);
const std::vector<double> &z_data() const;
class line &z_data(const std::vector<double> &z_data);
const std::vector<size_t> &marker_indices() const;
class line &marker_indices(const std::vector<size_t> &marker_indices);
bool use_y2() const;
class line &use_y2(bool use_y_2);
bool impulse() const;
class line &impulse(bool impulse);
bool fill() const;
class line &fill(bool fill);
bool use_y_2() const;
class line &use_y_2(bool use_y_2);
bool polar() const;
class line &polar(bool polar);
bool visible() const;
class line &visible(bool visible);
public /* getters and setters bypassing the line_spec */:
float line_width() const;
class line &line_width(float line_width);
enum line_spec::marker_style marker_style() const;
template <class T> line &marker_style(T marker_style) {
line_spec_.marker_style(marker_style);
return *this;
}
enum line_spec::marker_style marker() const;
template <class T> line &marker(T marker) {
line_spec_.marker(marker);
return *this;
}
float marker_size() const;
class line &marker_size(float size);
class line &marker_size(const std::vector<float> &size_vector);
class line &marker_size(const std::vector<double> &size_vector);
bool marker_face() const;
class line &marker_face(bool size);
const std::array<float, 4> &color() const;
template <class T> line &color(T c) {
line_spec().color(c);
return *this;
}
inline class line &color(std::initializer_list<float> c) {
line_spec().color(c);
return *this;
}
const std::array<float, 4> &marker_color() const;
template <class T> line &marker_color(T c) {
line_spec().marker_color(c);
return *this;
}
inline class line &marker_color(std::initializer_list<float> c) {
line_spec().marker_color(c);
return *this;
}
inline class line &marker_colors(const std::vector<double> &cs) {
marker_colors_ = cs;
touch();
return *this;
}
const std::array<float, 4> &marker_face_color() const;
template <class T> line &marker_face_color(T c) {
line_spec().marker_face_color(c);
return *this;
}
inline class line &marker_face_color(std::initializer_list<float> c) {
line_spec().marker_face_color(c);
return *this;
}
inline float marker_face_alpha() {
return line_spec().marker_face_alpha();
}
inline class line &marker_face_alpha(float a) {
line_spec().marker_face_alpha(a);
return *this;
}
protected:
virtual std::vector<line_spec::style_to_plot> styles_to_plot();
void maybe_update_line_spec();
protected:
/// Line style
matplot::line_spec line_spec_;
/// Data in the xlim
std::vector<double> y_data_{};
std::vector<double> x_data_{};
std::vector<double> z_data_{};
/// Positions at which we want markers to appear
std::vector<size_t> marker_indices_{};
std::vector<float> marker_sizes_{};
std::vector<double> marker_colors_{};
/// Draw line as impulse
bool impulse_{false};
/// Draw line as filled area
bool fill_{false};
/// Use the y2 xlim
bool use_y2_{false};
/// This line is meant for a polar plot
bool polar_{false};
/// True if visible
bool visible_{true};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_LINE_H

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//
// Created by Alan Freitas on 16/07/20.
//
#ifndef MATPLOTPLUSPLUS_MATRIX_H
#define MATPLOTPLUSPLUS_MATRIX_H
#include <matplot/detail/config.h>
#include <matplot/core/figure_type.h>
#include <matplot/core/axes_object.h>
#include <matplot/core/axis_type.h>
#include <matplot/core/line_spec.h>
#include <matplot/util/common.h>
#include <matplot/util/concepts.h>
#include <matplot/util/handle_types.h>
namespace matplot {
class axes_type;
class MATPLOT_EXPORTS matrix : public axes_object {
public:
enum class color_normalization { none, rows, columns };
public:
explicit matrix(class axes_type *parent);
/// Heatmap
/// Matrix of values that can be any double
matrix(class axes_type *parent,
const std::vector<std::vector<double>> &matrix);
/// Matrix with an rgb image
matrix(class axes_type *parent,
const std::vector<std::vector<double>> &red_channel,
const std::vector<std::vector<double>> &green_channel,
const std::vector<std::vector<double>> &blue_channel,
const std::vector<std::vector<double>> &alpha_channel = {});
/// Matrix with a b&w image
matrix(class axes_type *parent, const image_channel_t &gray_image);
/// Matrix with an rgb image
matrix(class axes_type *parent, const image_channel_t &red_channel,
const image_channel_t &green_channel,
const image_channel_t &blue_channel,
const image_channel_t &alpha_channel = {});
/// Matrices with an image
matrix(class axes_type *parent, const image_channels_t &rgb_image);
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
matrix(const axes_handle &parent, Args &&... args)
: matrix(parent.get(), std::forward<Args>(args)...) {}
virtual ~matrix() = default;
public /* mandatory virtual functions */:
// std::string set_variables_string() override;
std::string plot_string() override;
// std::string legend_string(const std::string& title) override;
std::string data_string() override;
// std::string unset_variables_string() override;
double xmax() override;
double xmin() override;
double ymax() override;
double ymin() override;
enum axes_object::axes_category axes_category() override;
public /* getters and setters */:
color_normalization normalization() const;
class matrix &normalization(color_normalization normalization);
const std::vector<std::vector<double>> &matrix_r() const;
class matrix &
matrix_r(const std::vector<std::vector<double>> &matrix_r);
const std::vector<std::vector<double>> &matrix_g() const;
class matrix &
matrix_g(const std::vector<std::vector<double>> &matrix_g);
const std::vector<std::vector<double>> &matrix_b() const;
class matrix &
matrix_b(const std::vector<std::vector<double>> &matrix_b);
const std::vector<std::vector<double>> &matrix_a() const;
class matrix &
matrix_a(const std::vector<std::vector<double>> &matrix_a);
bool always_hide_labels() const;
class matrix &always_hide_labels(bool always_hide_labels);
double x() const;
class matrix &x(double x);
double y() const;
class matrix &y(double y);
double w() const;
class matrix &w(double w);
double h() const;
class matrix &h(double h);
double alpha() const;
class matrix &alpha(double alpha);
public /* functions for matrixes */:
/// Matrix has three channels
bool is_rgb() const;
/// Matrix has 4 channels
bool is_rgba() const;
/// A matrix might have alpha because of an
/// alpha channels or because alpha_ != 0.
/// In both cases we have a rgba matrix
bool has_alpha() const;
private:
bool should_plot_labels();
void setup_axes();
std::string matrix_data_string();
std::string image_data_string();
std::string labels_data_string();
inline double x_width() {
return (w_ - 1) / static_cast<double>(matrices_[0][0].size() - 1);
}
inline double y_width() { return (h_ - 1) / static_cast<double>(matrices_[0].size() - 1); }
protected:
// Main matrix
std::vector<std::vector<std::vector<double>>> matrices_{};
// For heatmaps or 1 matrix
color_normalization normalization_{color_normalization::none};
// Matrix placement
double x_{1};
double y_{1};
double w_{0.};
double h_{0.};
// Style
bool always_hide_labels_{false};
labels_handle labels_;
double alpha_ = 0.0;
bool visible_{true};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_MATRIX_H

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//
// Created by Alan Freitas on 2020-07-04.
//
#ifndef MATPLOTPLUSPLUS_NETWORK_H
#define MATPLOTPLUSPLUS_NETWORK_H
#include <matplot/detail/config.h>
#include <matplot/core/figure_type.h>
#include <matplot/util/concepts.h>
#include <matplot/util/handle_types.h>
#include <matplot/core/axes_object.h>
#include <matplot/core/line_spec.h>
#include <matplot/util/common.h>
#include <array>
namespace matplot {
class axes_type;
class MATPLOT_EXPORTS network : public axes_object {
public:
enum class layout { automatic, force, circle, kawai, random };
public:
explicit network(class axes_type *parent);
network(class axes_type *parent,
const std::vector<std::pair<size_t, size_t>> &edges,
const std::vector<double> &weights, size_t n_vertices,
std::string_view line_spec = "");
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
network(const axes_handle &parent, Args &&...args)
: network(parent.get(), std::forward<Args>(args)...) {}
virtual ~network() = default;
public /* mandatory virtual functions */:
std::string plot_string() override;
std::string legend_string(std::string_view title) override;
std::string data_string() override;
double xmax() override;
double xmin() override;
double ymax() override;
double ymin() override;
enum axes_object::axes_category axes_category() override;
public /* getters and setters */:
class network &line_style(std::string_view line_spec);
const matplot::line_spec &line_spec() const;
matplot::line_spec &line_spec();
class network &line_spec(const class line_spec &line_spec);
const std::vector<double> &y_data() const;
class network &y_data(const std::vector<double> &y_data);
const std::vector<double> &x_data() const;
class network &x_data(const std::vector<double> &x_data);
const std::vector<double> &z_data() const;
class network &z_data(const std::vector<double> &z_data);
const std::vector<size_t> &marker_indices() const;
class network &
marker_indices(const std::vector<size_t> &marker_indices);
bool use_y2() const;
class network &use_y2(bool use_y_2);
bool use_y_2() const;
class network &use_y_2(bool use_y_2);
bool show_labels() const;
class network &show_labels(bool show_labels);
bool directed() const;
class network &directed(bool directed);
const std::vector<std::string> &edge_labels() const;
class network &edge_labels(const std::vector<std::string> &edge_labels);
template <class C>
network &edge_labels(const IterableValues<C> &e_labels) {
std::vector<std::string> str_labels;
std::stringstream ss;
ss.precision(10);
ss << std::fixed;
for (const auto &edge_label : e_labels) {
ss << "{/:Italic " << edge_label << " }";
str_labels.emplace_back(ss.str());
ss.str("");
}
edge_labels(str_labels);
return *this;
}
const std::vector<std::string> &node_labels() const;
class network &node_labels(const std::vector<std::string> &node_labels);
template <class C>
network &node_labels(const IterableValues<C> &e_labels) {
std::vector<std::string> str_labels;
std::stringstream ss;
ss.precision(10);
ss << std::fixed;
for (const auto &edge_label : e_labels) {
ss << edge_label;
str_labels.emplace_back(ss.str());
ss.str("");
}
node_labels(str_labels);
return *this;
}
const std::vector<double> &line_widths() const;
class network &line_widths(const std::vector<double> &line_widths);
const std::vector<std::pair<size_t, size_t>> &edges() const;
class network &
edges(const std::vector<std::pair<size_t, size_t>> &edges);
class network &n_vertices(size_t n_vertices);
const vector_1d &weights() const;
class network &weights(const vector_1d &weights);
layout layout_algorithm() const;
class network &layout_algorithm(layout layout_algorithm);
double layout_k() const;
class network &layout_k(double layout_k);
int layout_iterations() const;
class network &layout_iterations(int layout_iterations);
double energy_threshold() const;
class network &energy_threshold(double energy_threshold);
const std::vector<float> &marker_sizes() const;
class network &marker_sizes(const std::vector<float> &marker_sizes);
const std::vector<double> &marker_colors() const;
bool visible() const;
class network &visible(bool visible);
public /* getters and setters bypassing the line_spec */:
float line_width() const;
class network &line_width(float line_width);
enum line_spec::marker_style marker_style() const;
template <class T> network &marker_style(T marker_style) {
line_spec_.marker_style(marker_style);
return *this;
}
enum line_spec::marker_style marker() const;
template <class T> network &marker(T marker) {
line_spec_.marker(marker);
return *this;
}
float marker_size() const;
class network &marker_size(float size);
class network &marker_size(const std::vector<float> &size_vector);
class network &marker_size(const std::vector<double> &size_vector);
bool marker_face() const;
class network &marker_face(bool size);
const std::array<float, 4> &color() const;
template <class T> network &color(T c) {
line_spec().color(c);
return *this;
}
inline class network &color(std::initializer_list<float> c) {
line_spec().color(c);
return *this;
}
const std::array<float, 4> &marker_color() const;
template <class T> network &marker_color(T c) {
line_spec().marker_color(c);
return *this;
}
template <class T> network &node_color(T c) {
marker_color(c);
return *this;
}
inline class network &marker_color(std::initializer_list<float> c) {
line_spec().marker_color(c);
return *this;
}
inline class network &marker_colors(const std::vector<double> &cs) {
marker_colors_ = cs;
touch();
return *this;
}
const std::array<float, 4> &marker_face_color() const;
template <class T> network &marker_face_color(T c) {
line_spec().marker_face_color(c);
return *this;
}
inline class network &
marker_face_color(std::initializer_list<float> c) {
line_spec().marker_face_color(c);
return *this;
}
inline float marker_face_alpha() {
return line_spec().marker_face_alpha();
}
inline class network &marker_face_alpha(float a) {
line_spec().marker_face_alpha(a);
return *this;
}
size_t n_vertices();
protected:
virtual std::vector<line_spec::style_to_plot> styles_to_plot();
void maybe_update_line_spec();
void maybe_update_graph_layout();
void infer_n_vertices();
void process_random_layout();
void process_force_layout();
void process_circle_layout();
void process_kawai_layout();
protected:
/// Line style
class line_spec line_spec_;
/// Original graph
std::vector<std::pair<size_t, size_t>> edges_{};
/// The number of number is declared by the user or infered from the
/// edges
size_t n_vertices_{0};
/// Weight for each edge
vector_1d weights_{0};
/// True for directed graphs
bool directed_{false};
/// Data in the xlim
layout layout_algorithm_{layout::automatic};
double layout_k_ = -1.;
int layout_iterations_ = -1;
double energy_threshold_ = 1e-2;
std::vector<double> x_data_{};
std::vector<double> y_data_{};
std::vector<double> z_data_{};
/// Style
std::vector<float> marker_sizes_{};
std::vector<double> marker_colors_{};
bool show_labels_{true};
std::vector<std::string> edge_labels_{};
std::vector<std::string> node_labels_{};
std::vector<double> line_widths_{};
/// Use the y2 xlim
bool use_y2_{false};
/// True if visible
bool visible_{true};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_NETWORK_H

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//
// Created by Alan Freitas on 15/07/20.
//
#ifndef MATPLOTPLUSPLUS_PARALLEL_LINES_H
#define MATPLOTPLUSPLUS_PARALLEL_LINES_H
#include <matplot/detail/config.h>
#include <matplot/core/figure_type.h>
#include <matplot/core/axes_object.h>
#include <matplot/core/axis_type.h>
#include <matplot/core/line_spec.h>
#include <matplot/util/concepts.h>
#include <matplot/util/handle_types.h>
namespace matplot {
class axes_type;
class MATPLOT_EXPORTS parallel_lines : public axes_object {
public:
explicit parallel_lines(class axes_type *parent);
parallel_lines(class axes_type *parent,
const std::vector<std::vector<double>> &data,
std::string_view line_spec = "");
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
parallel_lines(const axes_handle &parent, Args&&... args)
: parallel_lines(parent.get(), std::forward<Args>(args)...) {}
virtual ~parallel_lines() = default;
public /* mandatory virtual functions */:
std::string set_variables_string() override;
std::string plot_string() override;
std::string legend_string(std::string_view title) override;
std::string data_string() override;
std::string unset_variables_string() override;
enum axes_object::axes_category axes_category() override;
public /* getters and setters */:
const matplot::line_spec &line_spec() const;
class parallel_lines &line_spec(const matplot::line_spec &line_spec);
const std::vector<std::vector<double>> &data() const;
class parallel_lines &
data(const std::vector<std::vector<double>> &data);
const std::vector<class axis_type> &axis() const;
std::vector<class axis_type> &axis();
class parallel_lines &axis(const std::vector<class axis_type> &axis);
bool visible() const;
class parallel_lines &visible(bool visible);
bool jitter() const;
class parallel_lines &jitter(bool jitter);
const std::vector<float> &line_widths() const;
class parallel_lines &
line_widths(const std::vector<float> &line_widths);
const std::vector<double> &line_colors() const;
class parallel_lines &
line_colors(const std::vector<double> &line_colors);
public /* getters and setters bypassing the line_spec */:
protected:
void maybe_update_line_spec();
protected:
class line_spec line_spec_;
std::vector<std::vector<double>> data_{};
std::vector<class axis_type> axis_{};
std::vector<float> line_widths_{};
std::vector<double> line_colors_{};
bool jitter_{true};
bool visible_{true};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_PARALLEL_LINES_H

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//
// Created by Alan Freitas on 09/07/20.
//
#ifndef MATPLOTPLUSPLUS_STAIR_H
#define MATPLOTPLUSPLUS_STAIR_H
#include <matplot/detail/config.h>
#include <matplot/axes_objects/line.h>
namespace matplot {
class axes_type;
class MATPLOT_EXPORTS stair : public line {
public:
enum class stair_style {
// trace change in x, then change in y
trace_x_first,
// trace change in y, then change in x
trace_y_first,
// histogram mode: trace
// (i) half change in x,
// (ii) then change in y,
// (iii) then half the change in x
histogram,
// fill change in x, then fill change in y
fill
};
public:
explicit stair(class axes_type *parent);
stair(class axes_type *parent, const std::vector<double> &y_data,
std::string_view line_spec = "");
stair(class axes_type *parent, const std::vector<double> &x_data,
const std::vector<double> &y_data,
std::string_view line_spec = "");
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
stair(const axes_handle &parent, Args&&... args)
: stair(parent.get(), std::forward<Args>(args)...) {}
public /* override the plotting function for stair */:
std::string plot_string() override;
// std::string data_string() override;
enum axes_object::axes_category axes_category() override;
public /* methods for stair only */:
stair_style stair_style() const;
class stair &stair_style(enum stair_style stair_style);
bool fill() const;
class stair &fill(bool fill);
protected:
std::vector<line_spec::style_to_plot> styles_to_plot() override;
protected:
enum stair_style stair_style_ { stair_style::trace_x_first };
bool fill_{false};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_STAIR_H

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//
// Created by Alan Freitas on 2020-07-06.
//
#ifndef MATPLOTPLUSPLUS_STRING_FUNCTION_H
#define MATPLOTPLUSPLUS_STRING_FUNCTION_H
#include <matplot/detail/config.h>
#include <matplot/axes_objects/line.h>
#include <matplot/core/line_spec.h>
#include <matplot/util/handle_types.h>
#include <string>
namespace matplot {
class MATPLOT_EXPORTS string_function : public line {
public:
explicit string_function(class axes_type *parent);
string_function(class axes_type *parent, std::string_view equation,
std::string_view line_spec = "");
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
string_function(const axes_handle &parent, Args&&... args)
: string_function(parent.get(), std::forward<Args>(args)...) {}
public:
std::string plot_string() override;
std::string data_string() override;
double xmax() override;
double xmin() override;
double ymax() override;
double ymin() override;
enum axes_object::axes_category axes_category() override;
public:
const std::string &equation() const;
class string_function &equation(std::string_view equation);
private:
std::string equation_;
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_STRING_FUNCTION_H

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//
// Created by Alan Freitas on 2020-07-04.
//
#ifndef MATPLOTPLUSPLUS_SURFACE_H
#define MATPLOTPLUSPLUS_SURFACE_H
#include <matplot/detail/config.h>
#include <matplot/core/figure_type.h>
#include <matplot/util/concepts.h>
#include <matplot/util/handle_types.h>
#include <matplot/core/axes_object.h>
#include <matplot/core/line_spec.h>
#include <matplot/util/common.h>
#include <array>
#include <optional>
namespace matplot {
class axes_type;
/// Surfaces might include data for contours but, if you only want contours,
/// it's best to use the contour, contourf, fcontour functions to plot it in
/// 2d
class MATPLOT_EXPORTS surface : public axes_object {
public:
explicit surface(class axes_type *parent);
/// Grid surface
surface(class axes_type *parent, const vector_2d &X, const vector_2d &Y,
const vector_2d &Z, const vector_2d &C,
std::string_view line_spec = "");
/// Parametric surface
// surface(class xlim* parent, const vector_1d& x, const
// vector_1d& y, const vector_1d& z, const vector_1d& c, const
// std::string& line_spec = "");
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
surface(const axes_handle &parent, Args&&... args)
: surface(parent.get(), std::forward<Args>(args)...) {}
virtual ~surface() = default;
public /* mandatory virtual functions */:
std::string set_variables_string() override;
std::string plot_string() override;
std::string legend_string(std::string_view title) override;
std::string data_string() override;
double xmax() override;
double xmin() override;
double ymax() override;
double ymin() override;
enum axes_object::axes_category axes_category() override;
public /* getters and setters */:
class surface &line_style(std::string_view line_spec);
const matplot::line_spec &line_spec() const;
matplot::line_spec &line_spec();
class surface &line_spec(const class line_spec &line_spec);
const vector_2d &Y_data() const;
class surface &Y_data(const vector_2d &Y_data);
const vector_2d &X_data() const;
class surface &X_data(const vector_2d &X_data);
const vector_2d &Z_data() const;
class surface &Z_data(const vector_2d &Z_data);
size_t norm() const;
class surface &norm(size_t norm);
const vector_2d &x_data() const;
class surface &x_data(const vector_2d &x_data);
const vector_2d &y_data() const;
class surface &y_data(const vector_2d &y_data);
const vector_2d &z_data() const;
class surface &z_data(const vector_2d &z_data);
bool hidden_3d() const;
class surface &hidden_3d(bool hidden_3_d);
bool surface_visible() const;
class surface &surface_visible(bool surface_visible);
bool surface_in_2d() const;
class surface &surface_in_2d(bool surface_in_2d);
bool palette_map_at_bottom() const;
class surface &palette_map_at_bottom(bool palette_map_at_bottom);
bool palette_map_at_surface() const;
class surface &palette_map_at_surface(bool palette_map_at_surface);
bool palette_map_at_top() const;
class surface &palette_map_at_top(bool palette_map_at_top);
bool contour_base() const;
class surface &contour_base(bool contour_base);
bool contour_surface() const;
class surface &contour_surface(bool contour_surface);
size_t contour_levels() const;
class surface &contour_levels(size_t contour_levels);
const std::vector<double> &contour_values() const;
class surface &
contour_values(const std::vector<double> &contour_values);
bool contour_text() const;
class surface &contour_text(bool contour_text);
float font_size() const;
class surface &font_size(const float &font_size);
const std::string font() const;
class surface &font(std::string_view font);
const std::string &font_weight() const;
class surface &font_weight(std::string_view font_weight);
const color_array &font_color() const;
class surface &font_color(const color_array &font_color);
class surface &font_color(std::string_view font_color);
bool depthorder() const;
class surface &depthorder(bool depthorder);
float face_alpha() const;
class surface &face_alpha(float face_alpha);
bool lighting() const;
class surface &lighting(bool lighting);
float primary() const;
class surface &primary(float amount);
float specular() const;
class surface &specular(float amount);
const class line_spec &contour_line_spec() const;
class line_spec &contour_line_spec();
class surface &
contour_line_spec(const class line_spec &contour_line_spec);
bool curtain() const;
class surface &curtain(bool curtain);
bool waterfall() const;
class surface &waterfall(bool waterfall);
bool fences() const;
class surface &fences(bool fences);
bool ribbons() const;
class surface &ribbons(bool ribbons);
double ribbon_width() const;
class surface &ribbon_width(double ribbon_width);
bool visible() const;
class surface &visible(bool visible);
public /* getters and setters bypassing the line_spec */:
float line_width() const;
class surface &line_width(float line_width);
const std::array<float, 4> &edge_color() const;
template <class T> surface &edge_color(T c) {
line_spec().color(c);
touch();
return *this;
}
inline class surface &edge_color(std::initializer_list<float> c) {
line_spec().color(c);
touch();
return *this;
}
double zmin() override;
double zmax() override;
protected:
void maybe_update_line_spec();
std::string grid_data_string();
std::string ribbon_data_string();
size_t create_line_index();
protected:
/// Data in the xlim
vector_2d X_data_{};
vector_2d Y_data_{};
vector_2d Z_data_{};
vector_2d C_data_{};
/// Interpret data as a flat array of parametrics values
/// If false, data needs to represent a grid
/// If true, data represents a free form
bool is_parametric_{false};
/// Preprocess zmin / zmax
double zmin_{NaN};
double zmax_{NaN};
/// Style
size_t norm_{2};
bool hidden3d_{false};
bool depthorder_{false};
float face_alpha_{.95f};
class line_spec line_spec_;
bool lighting_{false};
float primary_{-1.};
float specular_{-1.};
bool curtain_{false};
bool waterfall_{false};
bool fences_{false};
bool ribbons_{false};
double ribbon_width_{0.75};
// Line surface
bool surface_visible_{true};
bool surface_in_2d_{false};
// Solid surface
bool palette_map_at_bottom_{false};
bool palette_map_at_surface_{true};
bool palette_map_at_top_{false};
class line_spec contour_line_spec_;
bool contour_base_{false};
bool contour_surface_{false};
size_t contour_levels_{9};
std::vector<double> contour_values_{};
bool contour_text_{false};
std::optional<float> font_size_{std::nullopt};
std::optional<std::string> font_{std::nullopt};
std::string font_weight_{"normal"};
color_array font_color_{0, 0, 0, 0};
/// True if visible
bool visible_{true};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_SURFACE_H

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//
// Created by Alan Freitas on 2020-07-04.
//
#ifndef MATPLOTPLUSPLUS_VECTORS_H
#define MATPLOTPLUSPLUS_VECTORS_H
#include <matplot/detail/config.h>
#include <matplot/core/figure_type.h>
#include <matplot/util/concepts.h>
#include <matplot/util/handle_types.h>
#include <matplot/core/axes_object.h>
#include <matplot/core/line_spec.h>
#include <array>
namespace matplot {
class axes_type;
class MATPLOT_EXPORTS vectors : public axes_object {
public:
/// \brief Create empty vectors
explicit vectors(class axes_type *parent);
/// \brief Create 2D vectors with fixed origin and incremental u
/// Origin xy = (0,0), u = {1,...n}, v = {v_data}
vectors(class axes_type *parent, const std::vector<double> &v_data,
std::string_view line_spec = "");
/// \brief Create 2D vectors with fixed origin
/// Origin xy = (0,0), u = {u_data}, v = {v_data}
vectors(class axes_type *parent, const std::vector<double> &u_data,
const std::vector<double> &v_data,
std::string_view line_spec = "");
/// \brief Create 3D vectors with fixed origin
/// Origin xy = (0,0,0), u = {u_data}, v = {v_data}, w = {w_data}
vectors(class axes_type *parent, const std::vector<double> &u_data,
const std::vector<double> &v_data,
const std::vector<double> &w_data,
std::string_view line_spec = "");
/// \brief Create 2D vectors with custom origin
vectors(class axes_type *parent, const std::vector<double> &x_data,
const std::vector<double> &y_data,
const std::vector<double> &u_data,
const std::vector<double> &v_data,
std::string_view line_spec = "");
/// \brief Create 2D vectors with custom origin and colors
vectors(class axes_type *parent, const std::vector<double> &x_data,
const std::vector<double> &y_data,
const std::vector<double> &u_data,
const std::vector<double> &v_data,
const std::vector<double> &c_data,
std::string_view line_spec = "");
/// \brief Create 3D vectors with custom origin
vectors(class axes_type *parent, const std::vector<double> &x_data,
const std::vector<double> &y_data,
const std::vector<double> &z_data,
const std::vector<double> &u_data,
const std::vector<double> &v_data,
const std::vector<double> &w_data,
std::string_view line_spec = "");
/// \brief Create 3D vectors with custom origin and colors
vectors(class axes_type *parent, const std::vector<double> &x_data,
const std::vector<double> &y_data,
const std::vector<double> &z_data,
const std::vector<double> &u_data,
const std::vector<double> &v_data,
const std::vector<double> &w_data,
const std::vector<double> &c_data,
std::string_view line_spec = "");
/// If we receive an axes_handle, we can convert it to a raw
/// pointer because there is no ownership involved here
template <class... Args>
vectors(const axes_handle &parent, Args &&...args)
: vectors(parent.get(), std::forward<Args>(args)...) {}
virtual ~vectors() = default;
public /* mandatory virtual functions */:
std::string plot_string() override;
std::string legend_string(std::string_view title) override;
std::string data_string() override;
double xmax() override;
double xmin() override;
double ymax() override;
double ymin() override;
enum axes_object::axes_category axes_category() override;
public /* getters and setters */:
class vectors &line_style(std::string_view line_spec);
const matplot::line_spec &line_spec() const;
matplot::line_spec &line_spec();
class vectors &line_spec(const class line_spec &line_spec);
const std::vector<double> &y_data() const;
class vectors &y_data(const std::vector<double> &y_data);
const std::vector<double> &x_data() const;
class vectors &x_data(const std::vector<double> &x_data);
const std::vector<double> &z_data() const;
class vectors &z_data(const std::vector<double> &z_data);
const std::vector<size_t> &marker_indices() const;
class vectors &
marker_indices(const std::vector<size_t> &marker_indices);
bool use_y2() const;
class vectors &use_y2(bool use_y_2);
bool impulse() const;
class vectors &impulse(bool impulse);
bool fill() const;
class vectors &fill(bool fill);
bool use_y_2() const;
class vectors &use_y_2(bool use_y_2);
bool polar() const;
class vectors &polar(bool polar);
bool visible() const;
class vectors &visible(bool visible);
bool normalize() const;
class vectors &normalize(bool normalize);
double scale() const;
class vectors &scale(double scale);
public /* getters and setters bypassing the line_spec */:
float line_width() const;
class vectors &line_width(float line_width);
enum line_spec::marker_style marker_style() const;
template <class T> vectors &marker_style(T marker_style) {
line_spec_.marker_style(marker_style);
return *this;
}
enum line_spec::marker_style marker() const;
template <class T> vectors &marker(T marker) {
line_spec_.marker(marker);
return *this;
}
float marker_size() const;
class vectors &marker_size(float size);
class vectors &marker_size(const std::vector<float> &size_vector);
class vectors &marker_size(const std::vector<double> &size_vector);
bool marker_face() const;
class vectors &marker_face(bool size);
const std::array<float, 4> &color() const;
template <class T> vectors &color(T c) {
line_spec().color(c);
return *this;
}
inline class vectors &color(std::initializer_list<float> c) {
line_spec().color(c);
return *this;
}
const std::array<float, 4> &marker_color() const;
template <class T> vectors &marker_color(T c) {
line_spec().marker_color(c);
return *this;
}
inline class vectors &marker_color(std::initializer_list<float> c) {
line_spec().marker_color(c);
return *this;
}
inline class vectors &marker_colors(const std::vector<double> &cs) {
marker_colors_ = cs;
touch();
return *this;
}
const std::array<float, 4> &marker_face_color() const;
template <class T> vectors &marker_face_color(T c) {
line_spec().marker_face_color(c);
return *this;
}
inline class vectors &
marker_face_color(std::initializer_list<float> c) {
line_spec().marker_face_color(c);
return *this;
}
inline float marker_face_alpha() {
return line_spec().marker_face_alpha();
}
inline class vectors &marker_face_alpha(float a) {
line_spec().marker_face_alpha(a);
return *this;
}
protected:
void maybe_update_line_spec();
protected:
/// Line style
class line_spec line_spec_;
/// Vector origins
std::vector<double> y_data_{};
std::vector<double> x_data_{};
std::vector<double> z_data_{};
/// Vector components
std::vector<double> u_data_{};
std::vector<double> v_data_{};
std::vector<double> w_data_{};
/// Vector color mapping values
std::vector<double> c_data_{};
/// Positions at which we want markers to appear
std::vector<size_t> marker_indices_{};
std::vector<float> marker_sizes_{};
std::vector<double> marker_colors_{};
/// Scale of vectors
double scale_{1};
/// Draw line as impulse
bool impulse_{false};
/// Draw line as filled area
bool fill_{false};
/// Use the y2 xlim
bool use_y2_{false};
/// This line is meant for a polar plot
bool polar_{false};
/// True if visible
bool visible_{true};
/// True if vectors are normalized
bool normalize_{false};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_VECTORS_H

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//
// Created by Alan Freitas on 26/08/20.
//
#ifndef MATPLOTPLUSPLUS_BACKEND_INTERFACE_H
#define MATPLOTPLUSPLUS_BACKEND_INTERFACE_H
#include <matplot/detail/config.h>
#include <memory>
#include <string>
#include <vector>
namespace matplot {
class figure_type;
namespace backend {
/// Inherit from this class to create a new backend
/// - Interactive backends show the plots on a window
/// - Non-interactive backends save the plots to a file
/// - The only backend for which we currently provide a
/// concrete implementation is gnuplot pipes. A gnuplot
/// pipe can be an interactive or non-interactive depending
/// on the terminal.
/// - Unfortunately, backends based on gnuplot terminals
/// need to be treated differently because they consume
/// commands rather vertices. It might be technically
/// possible to come up with a workaround to make gnuplot
/// plot each vertex but this is definitely not worth it.
/// - The interface for backends that expect lists of
/// vertices to draw are somewhat inspired in ImGui backends
/// and Matplotlib backends. You can see some examples at:
/// https://github.com/matplotlib/matplotlib/blob/master/src/_backend_agg.h
/// https://github.com/ocornut/imgui/tree/master/examples
/// - If implementing such an interface, the functions
/// for gnuplot pipes should just be ignored.
/// - These are placeholders with no concrete implementation.
/// We still need to define the functions that generate vertices
/// in the classes that inherit from axes_object, and these
/// functions in the interface are likely to change as we
/// need. A good place to start is probably the line object,
/// which is fundamental for most plots.
class MATPLOT_EXPORTS backend_interface {
/// Virtual functions you can override to create any backend
public:
virtual ~backend_interface() noexcept = default;
/// \brief True if backend is in interactive mode
/// One backends might support both interactive and
/// non-interactive mode.
/// For instance, the gnuplot backend can support
/// both modes by changing its terminal.
/// It is also possible to export the OpenGL state
/// as an image with the glReadPixels function.
/// You can combine glReadPixels with CImg
/// to export the image in a variety of formats.
/// To export vector graphics from OpenGL,
/// libraries such as http://www.geuz.org/gl2ps/
/// can be used.
virtual bool is_interactive();
/// \brief If non-interactive, get the file where we should output
/// our data
virtual const std::string &output();
/// \brief If non-interactive, get the format in which we should
/// output our data
virtual const std::string &output_format();
/// \brief If non-interactive, set the file where we should output
/// our data This function can use the file extension to
/// automatically set the output format
virtual bool output(const std::string &filename);
/// \brief If non-interactive, set the file and the file format for
/// outputting data
virtual bool output(const std::string &filename,
const std::string &file_format);
/// Get the current width
/// The user might have changed the image width manually.
/// Matplot++ needs to be aware of that.
virtual unsigned int width();
/// \brief Get height
virtual unsigned int height();
/// \brief Set width
/// For when the user programmatically sets the width
virtual void width(unsigned int new_width);
/// \brief Set height
virtual void height(unsigned int new_height);
/// \brief Get the current position_x (for interactive backends)
/// The user might have changed the image position_x manually.
/// Matplot++ needs to be aware of that.
virtual unsigned int position_x();
/// \brief Get position_y (for interactive backends)
virtual unsigned int position_y();
/// \brief Set position_x (for interactive backends)
/// For when the user programmatically sets the position_x
virtual void position_x(unsigned int new_position_x);
/// \brief Set position_y (for interactive backends)
virtual void position_y(unsigned int new_position_y);
/// \brief Set window title
virtual void window_title(const std::string& title);
/// \brief Get window title
virtual std::string window_title();
/// \brief Tell the backend we are about to draw a new image
/// The backend might reject starting this new image
/// For instance, the user already closed the window
/// and there's no point in feeding commands to the backend
virtual bool new_frame();
/// \brief Tell the backend this new image is over
/// The backend is free to plot whatever it's been
/// buffering
/// \return True if everything is ok
virtual bool render_data();
/// \brief Tell the backend to wait for user interaction
/// Until then, the backend should block execution if possible
/// Figures use this in the show function
virtual void show(matplot::figure_type *);
/// \brief True if the user requested to close the window
/// This function allows the backend to send a signal
/// indicating the user has asked to close the window
virtual bool should_close();
/// \brief True if the backend supports fonts
/// We can avoid some commands if it doesn't
virtual bool supports_fonts();
/// Public functions you need to override to create a new
/// backend based on vertices, such as OpenGL, Agg, etc...
/// These functions are likely to change as we come up
/// with concrete implementations based on vertices.
/// \see
/// https://github.com/matplotlib/matplotlib/blob/master/src/_backend_agg.h
/// \see https://github.com/ocornut/imgui/tree/master/examples
public:
/// \brief Draws background on the image
virtual void draw_background(const std::array<float, 4> &color);
/// \brief Draws rectangle on the image
virtual void draw_rectangle(const double x1, const double x2,
const double y1, const double y2,
const std::array<float, 4> &color);
/// \brief Draw a path on the image
/// Many backends will require the path to be floats
/// but Matplot++ words with doubles, so it's up to
/// the backend to implement this conversion however
/// it seems more efficient
virtual void draw_path(const std::vector<double> &x,
const std::vector<double> &y,
const std::array<float, 4> &color);
/// \brief Draw markers on the image
virtual void draw_markers(const std::vector<double> &x,
const std::vector<double> &y,
const std::vector<double> &z = {});
/// \brief Draw text on the image
virtual void draw_text(const std::vector<double> &x,
const std::vector<double> &y,
const std::vector<double> &z = {});
/// \brief Draw image matrix on the image
virtual void
draw_image(const std::vector<std::vector<double>> &x,
const std::vector<std::vector<double>> &y,
const std::vector<std::vector<double>> &z = {});
/// \brief Draw rectangle on the image
virtual void draw_triangle(const std::vector<double> &x,
const std::vector<double> &y,
const std::vector<double> &z = {});
/// We can certainly include more functions here, such as
/// draw_mesh, draw_rectangle, etc...
/// However, these functions should have a default implementation
/// that would recur to more primitive functions.
/// For instance, draw_rectangle should have a default
/// implementation to draw a rectangle based on two calls to
/// draw_triangle (for filled rectangles) or an implementation based
/// on draw_path (for unfilled rectangles). Otherwise, it would be
/// very expensive to start a new backend. These function should be
/// complementary functions that would be used to improve
/// performance on existing backends.
/// Public functions you need to override only if your backend
/// is based on gnuplot
/// If not, just leave it as it is and the default implementations
/// should do just fine.
public:
/// \brief If true, this backend does not work by consuming vertices
/// Most functions above will be ignored.
/// The figure object will send gnuplot commands to this backend
/// instead of vertices.
/// The default implementation returns false.
virtual bool consumes_gnuplot_commands();
/// \brief Send line and newline to gnu plot pipe and flush
/// We can buffer the lines until the end of data is sent
virtual void run_command(const std::string &text);
/// \brief Include a comment in the gnuplot code
/// This is useful when tracing the gnuplot commands
/// and when generating a gnuplot file.
virtual void include_comment(const std::string &text);
}; // class backend_interface
} // namespace backend
} // namespace matplot
#endif // MATPLOTPLUSPLUS_BACKEND_INTERFACE_H

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//
// Created by Alan Freitas on 26/08/20.
//
#ifndef MATPLOTPLUSPLUS_BACKEND_REGISTRY_H
#define MATPLOTPLUSPLUS_BACKEND_REGISTRY_H
#include <matplot/detail/config.h>
#include <matplot/backend/backend_interface.h>
#include <matplot/backend/gnuplot.h>
#include <stdexcept>
namespace matplot {
template <class BACKEND_TYPE, class ... Args>
std::shared_ptr<backend::backend_interface> create_backend(Args&&... args) {
if constexpr (std::is_base_of_v<backend::backend_interface,
BACKEND_TYPE>) {
std::shared_ptr<BACKEND_TYPE> dp = std::make_shared<BACKEND_TYPE>(std::forward<Args>(args)...);
std::shared_ptr<backend::backend_interface> bp =
std::dynamic_pointer_cast<backend::backend_interface>(dp);
return bp;
} else {
throw std::invalid_argument(
std::string("The class ") + typeid(BACKEND_TYPE).name() +
" does not derive from backend::backend_interface");
}
}
MATPLOT_EXPORTS
std::shared_ptr<backend::backend_interface> create_default_backend();
} // namespace matplot
#endif // MATPLOTPLUSPLUS_BACKEND_REGISTRY_H

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//
// Created by Alan Freitas on 26/08/20.
//
#ifndef MATPLOTPLUSPLUS_BACKEND_GNUPLOT_H
#define MATPLOTPLUSPLUS_BACKEND_GNUPLOT_H
#include <matplot/detail/config.h>
#include <matplot/backend/backend_interface.h>
#include <matplot/util/popen.h>
#include <array>
#include <chrono>
#include <tuple>
namespace matplot::backend {
class MATPLOT_EXPORTS gnuplot : public backend_interface {
public:
gnuplot();
virtual ~gnuplot();
bool is_interactive() override;
const std::string &output() override;
const std::string &output_format() override;
bool output(const std::string &filename) override;
bool output(const std::string &filename,
const std::string &file_format) override;
unsigned int width() override;
unsigned int height() override;
unsigned int position_x() override;
unsigned int position_y() override;
void position_x(unsigned int new_position_x) override;
void position_y(unsigned int new_position_y) override;
void width(unsigned int new_width) override;
void height(unsigned int new_height) override;
bool new_frame() override;
bool render_data() override;
bool supports_fonts() override;
public:
bool consumes_gnuplot_commands() override;
void run_command(const std::string &command) override;
void include_comment(const std::string &comment) override;
public /* gnuplot pipe functions */:
/// We "render the data" by flushing the commands
bool flush_commands();
/// Identify the default terminal type in the system
static std::string default_terminal_type();
static bool terminal_is_available(std::string_view);
static std::tuple<int, int, int> gnuplot_version();
static bool gnuplot_includes_legends();
static bool gnuplot_has_wall_option();
static bool gnuplot_supports_keyentry();
static bool terminal_has_title_option(const std::string &t);
static bool terminal_has_size_option(const std::string &t);
static bool terminal_has_position_option(const std::string &t);
static bool terminal_has_enhanced_option(const std::string &t);
static bool terminal_has_color_option(const std::string &t);
static bool terminal_has_font_option(const std::string &t);
public: /* gnuplot pipe constexprs */
// True if the windows persist after closing the program
// False by default because this is VERY annoying in
// some repetitive tasks involving lots of plots
// You can change the default here or run the command
// set terminal "name" persist
static constexpr bool windows_should_persist_by_default = false;
// True if we should wait at least 5 seconds after the last
// flush to close gnuplot
static constexpr bool dont_let_it_close_too_fast = false;
// True if we allow to use the mouse interactively in the window
// Most of the time, this is just annoying when we scroll without
// meaning to It is very very hard to use the mouse properly
// http://www.gnuplot.info/files/gpReadMouseTest.c
static constexpr bool allow_using_mouse = true;
#if defined(MATPLOT_TRACE_GNUPLOT_COMMANDS) && \
!defined(MATPLOT_BUILD_FOR_DOCUMENTATION_IMAGES)
static constexpr bool trace_commands = true;
#else
static constexpr bool trace_commands = false;
#endif
static constexpr size_t pipe_capacity_worst_case = BUFSIZ;
/// File formats for figures and properties of terminals
static constexpr std::array<
std::pair<std::string_view, std::string_view>, 33>
extension_terminal() {
return std::array<std::pair<std::string_view, std::string_view>,
33>{
std::pair{".html", "canvas"}, std::pair{".cgm", "cgm"},
std::pair{".txt", "dumb"}, std::pair{".md", "dumb"},
std::pair{".dxf", "dxf"}, std::pair{".emf", "emf"},
// std::pair{".emtex", "emtex"},
std::pair{".eps", "postscript"}, std::pair{".eps", "epscairo"},
std::pair{".eps", "epslatex"}, std::pair{".gif", "gif"},
std::pair{".hpgl", "hpgl"}, std::pair{".jpeg", "jpeg"},
std::pair{".jpg", "jpeg"}, std::pair{".tex", "epslatex"},
std::pair{".mf", "mf"}, std::pair{".mp", "mp"},
std::pair{".pcl5", "pcl5"}, std::pair{".pdf", "pdf"},
std::pair{".pdf", "pdfcairo"}, std::pair{".png", "pngcairo"},
std::pair{".png", "png"}, std::pair{".tex", "pslatex"},
std::pair{".tex", "context"}, std::pair{".tex", "texdraw"},
std::pair{".tex", "tikz"},
// std::pair{".tex", "eepic"},
// std::pair{".tex", "tpic"},
std::pair{".pstex", "pstex"},
std::pair{".pstricks", "pstricks"},
// std::pair{".qms", "qms"},
std::pair{".sixel", "sixelgd"}, std::pair{".svg", "svg"},
std::pair{".tek40xx", "tek40xx"},
std::pair{".tek410x", "tek410x"},
// std::pair{".tgif", "tgif"},
std::pair{".tkcanvas", "tkcanvas"},
// std::pair{".tpic", "tpic"},
std::pair{".vttek", "vttek"}};
}
private:
// Process pipe to gnuplot
opipe pipe_;
// How many bytes we put in the pipe
size_t bytes_in_pipe_{0};
// Current gnuplot terminal we should
std::string terminal_{"qt"};
// Position and size
std::array<unsigned, 4> position_{680, 558, 560, 420};
// Time we last flush, to avoid flushing results too fast
std::chrono::high_resolution_clock::time_point last_flush_;
// File output, if non-interactive
std::string output_{};
// Whether we should include comments in the commands
bool include_comments_ = trace_commands;
};
} // namespace matplot::backend
#endif // MATPLOTPLUSPLUS_BACKEND_GNUPLOT_H

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//
// Created by Alan Freitas on 26/08/20.
//
#ifndef MATPLOTPLUSPLUS_OPENGL_H
#define MATPLOTPLUSPLUS_OPENGL_H
#include <matplot/detail/config.h>
#include <matplot/backend/opengl_embed.h>
#include <mutex>
#include <thread>
namespace matplot::backend {
class MATPLOT_EXPORTS opengl : public opengl_embed {
public:
opengl();
~opengl();
public:
bool new_frame() override;
bool render_data() override;
void show(matplot::figure_type *) override;
bool should_close() override;
void window_title(const std::string& title) override;
std::string window_title() override;
public:
static constexpr unsigned int default_screen_width = 560;
static constexpr unsigned int default_screen_height = 420;
static void initialize_glfw();
static double get_time();
private:
GLFWwindow *window_;
std::string window_title_;
std::mutex this_window_in_context_;
static bool glfw_is_initialized;
};
} // namespace matplot::backend
#endif // MATPLOTPLUSPLUS_OPENGL_H

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//
// Created by Alan Freitas on 26/08/20.
//
#ifndef MATPLOTPLUSPLUS_OPENGL_EMBED_H
#define MATPLOTPLUSPLUS_OPENGL_EMBED_H
#include <matplot/detail/config.h>
#ifdef __APPLE__
/* Defined before OpenGL and GLUT includes to avoid deprecation messages on
* Apple */
/* What the hell is Apple thinking? */
#define GL_SILENCE_DEPRECATION
#endif
/// Because OpenGL is only really a standard/specification it is up to
/// the driver manufacturer to implement the specification to a driver
/// that the specific graphics card supports. Since there are many
/// different versions of OpenGL drivers, the location of most of its
/// functions is not known at compile-time and needs to be queried at
/// run-time. GLAD is an open source library that manages all that
/// cumbersome work we talked about.
/// \see https://learnopengl.com/Getting-started/Creating-a-window
#include <glad/glad.h>
/// GLFW gives us the bare necessities required for rendering goodies
/// to the screen. It allows us to create an OpenGL context, define
/// window parameters, and handle user input
/// \see https://learnopengl.com/Getting-started/Creating-a-window
#include <GLFW/glfw3.h>
#include <matplot/backend/backend_interface.h>
namespace matplot::backend {
class MATPLOT_EXPORTS opengl_embed : public backend_interface {
public:
opengl_embed();
explicit opengl_embed(bool create_shaders);
~opengl_embed();
public:
bool is_interactive() override;
const std::string &output() override;
const std::string &output_format() override;
bool output(const std::string &filename) override;
bool output(const std::string &filename,
const std::string &file_format) override;
unsigned int width() override;
unsigned int height() override;
void width(unsigned int new_width) override;
void height(unsigned int new_height) override;
unsigned int position_x() override;
unsigned int position_y() override;
void position_x(unsigned int new_position_x) override;
void position_y(unsigned int new_position_y) override;
bool new_frame() override;
// This is only a demonstration that is blocking the main thread.
// Because glfw does not work well with multiple threads,
// the challenge is to run the rendering loop in another thread
// while we see this function only to update what should be rendered.
bool render_data() override;
void show(matplot::figure_type *) override;
bool supports_fonts() override;
public:
void draw_background(const std::array<float, 4> &color) override;
void draw_rectangle(const double x1, const double x2,
const double y1, const double y2,
const std::array<float, 4> &color) override;
void draw_path(const std::vector<double> &x,
const std::vector<double> &y,
const std::array<float, 4> &color) override;
void draw_markers(const std::vector<double> &x,
const std::vector<double> &y,
const std::vector<double> &z = {}) override;
void draw_text(const std::vector<double> &x,
const std::vector<double> &y,
const std::vector<double> &z = {}) override;
void
draw_image(const std::vector<std::vector<double>> &x,
const std::vector<std::vector<double>> &y,
const std::vector<std::vector<double>> &z = {}) override;
void draw_triangle(const std::vector<double> &x,
const std::vector<double> &y,
const std::vector<double> &z = {}) override;
public:
static constexpr unsigned int default_screen_width = 560;
static constexpr unsigned int default_screen_height = 420;
/// \brief glfw: whenever the window size changed (by OS or user resize)
/// this callback function executes
static void framebuffer_size_callback(GLFWwindow *window, int width,
int height);
/// \brief Process all input
/// Query GLFW whether relevant keys are pressed/released
/// this frame and react accordingly
static void process_input(GLFWwindow *window);
void create_shaders();
private:
unsigned int draw_2d_single_color_shader_program_;
int n_vertex_attributes_available_;
unsigned int height_{default_screen_height};
unsigned int width_{default_screen_width};
};
} // namespace matplot::backend
#endif // MATPLOTPLUSPLUS_OPENGL_EMBED_H

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//
// Created by Alan Freitas on 2020-07-04.
//
#ifndef MATPLOTPLUSPLUS_CHARTOBJECT_H
#define MATPLOTPLUSPLUS_CHARTOBJECT_H
#include <memory>
#include <vector>
#include <string>
#include <matplot/detail/config.h>
namespace matplot {
class axes_type;
using axes_handle = std::shared_ptr<class axes_type>;
/// Abstract class for the objects we put in the xlim
class MATPLOT_EXPORTS axes_object {
public:
enum class axes_category {
two_dimensional,
three_dimensional,
three_dimensional_map,
polar
};
public:
explicit axes_object(class axes_type *parent);
explicit axes_object(axes_handle parent);
virtual ~axes_object() = default;
public:
virtual double xmax();
virtual double xmin();
virtual double ymax();
virtual double ymin();
virtual double zmax();
virtual double zmin();
virtual axes_category axes_category();
virtual bool requires_colormap();
virtual std::string tag();
virtual void tag(std::string_view);
bool is_3d();
bool is_3d_map();
bool is_2d();
bool is_polar();
public /* for the backend */:
virtual void run_draw_commands();
public /* for gnuplot backend only */:
virtual std::string set_variables_string();
// Plot command for this object
virtual std::string plot_string() = 0;
// Create a legend string for this object
// https://stackoverflow.com/questions/60617211/how-to-put-a-rectangle-in-the-key-with-same-hue-as-a-shaded-area-in-gnuplot/60624922#60624922
virtual std::string legend_string(std::string_view legend);
// Take a number of legends from the range [legends_begin, legends_end]
// and advance the legends_begin iterator.
// Objects might want to take care of more than one legend.
// They can overload this method to do that.
// If not, they can just inherit the simple legend_string method.
virtual std::string
legend_string(std::vector<std::string>::iterator &legends_begin,
std::vector<std::string>::iterator &legends_end);
virtual std::string data_string();
virtual std::string unset_variables_string();
public:
const class axes_type *parent() const;
class axes_type *&parent();
void parent(class axes_type *&parent);
void touch();
// Objects might have their own display name
// In this case, we use the display name for legends
// instead of the strings in the legends object
const std::string &display_name() const;
void display_name(std::string_view display_name);
protected:
std::string tag_{"axes_object"};
std::string display_name_{""};
class axes_type *parent_;
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_CHARTOBJECT_H

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//
// Created by Alan Freitas on 2020-07-03.
//
#ifndef MATPLOTPLUSPLUS_AXIS_TYPE_H
#define MATPLOTPLUSPLUS_AXIS_TYPE_H
#include <matplot/detail/config.h>
#include <matplot/util/handle_types.h>
#include <matplot/util/keywords.h>
#include <array>
#include <string>
#include <vector>
namespace matplot {
class axes_type;
/// A two dimensional axis
class MATPLOT_EXPORTS axis_type {
public:
enum class axis_scale { linear, log };
public:
friend axes_type;
axis_type();
explicit axis_type(class axes_type *parent);
explicit axis_type(class axes_type *parent, bool visible);
axis_type(class axes_type *parent, double min, double max);
axis_type(class axes_type *parent, double min, double max,
bool visible);
public:
void touch();
public:
std::array<double, 2> limits() const;
class axis_type &limits(const std::array<double, 2> &limits);
bool limits_mode_auto() const;
bool limits_mode_manual() const;
class axis_type &limits_mode_auto(bool limits_mode_auto);
class axis_type &limits_mode_manual(bool limits_mode_manual);
std::string range_string() const;
bool reverse() const;
class axis_type &reverse(bool reverse);
const color_array &color() const;
class axis_type &color(const color_array &color);
class axis_type &color(std::string_view color);
class axis_type &color(const enum color &color);
const std::string &label() const;
class axis_type &label(std::string_view label);
const std::string &tick_label_format() const;
class axis_type &tick_label_format(std::string_view tick_label_format);
bool tick_values_automatic() const;
class axis_type &tick_values_automatic(bool tick_values_automatic);
bool tick_values_manual() const;
class axis_type &tick_values_manual(bool tick_values_manual);
/// Get tick values
/// This might be tick values provided by the user
/// or tick values calculated automatically for the range
const std::vector<double> &tick_values() const;
class axis_type &tick_values(const std::vector<double> &tick_values);
/// Get tick values
/// This might be tick labels provided by the user
/// or tick labels according to a format
const std::vector<std::string> &ticklabels() const;
class axis_type &ticklabels(const std::vector<std::string> &ticklabels);
bool ticklabels_mode() const;
class axis_type &ticklabels_mode(bool ticklabels_mode);
float tickangle() const;
class axis_type &tickangle(float tickangle);
axis_scale scale() const;
class axis_type &scale(axis_scale scale);
float tick_length() const;
class axis_type &tick_length(float tick_length);
bool zero_axis() const;
class axis_type &zero_axis(bool zero_axis);
bool geographic() const;
class axis_type &geographic(bool geographic);
bool on_axis() const;
class axis_type &on_axis(bool on_axis);
const std::string &label_weight() const;
class axis_type &label_weight(std::string_view label_weight);
float label_font_size() const;
class axis_type &label_font_size(float label_font_size);
const color_array &label_color() const;
class axis_type &label_color(const color_array &label_color);
template <class T> axis_type &label_color(T c) {
label_color(to_array(c));
return *this;
}
bool is_timestamp() const;
class axis_type &is_timestamp(bool is_timestamp);
bool visible() const;
class axis_type &visible(bool visible);
public:
std::string label_string() const;
std::string tick_values_string(bool minor_ticks = false) const;
std::string tick_rotate_string() const;
private:
// range
std::array<double, 2> limits_{0, 2};
bool limits_mode_auto_{true};
bool reverse_{false};
axis_scale scale_{axis_scale::linear};
float exponent{0};
bool geographic_{false};
// tics
std::vector<double> tick_values_{0, 0.2000, 0.4000, 0.6000,
0.8000, 1, 1.2000, 1.4000,
1.6000, 1.8000, 2};
std::string tick_label_format_{"%g"};
bool tick_values_automatic_{true};
float tickangle_{0};
std::vector<std::string> ticklabels_;
bool ticklabels_mode_{true};
std::array<float, 4> color_{0, 0.15f, 0.15f, 0.15f};
float tick_length_{0.75};
// minor tics
bool minor_tick_{false};
std::vector<double> minor_tick_values_{
0.0500, 0.1000, 0.1500, 0.2500, 0.3000, 0.3500, 0.4500, 0.5000,
0.5500, 0.6500, 0.7000, 0.7500, 0.8500, 0.9000, 0.9500, 1.0500,
1.1000, 1.1500, 1.2500, 1.3000, 1.3500, 1.4500, 1.5000, 1.5500,
1.6500, 1.7000, 1.7500, 1.8500, 1.9000, 1.9500};
// font
std::string font_{"Helvetica"};
float font_size_{10};
std::string font_weight_{"normal"};
// label
std::string label_{""};
std::string label_weight_{"normal"};
float label_font_size_{11};
color_array label_color_{0, 0, 0, 0};
bool is_timestamp_{false};
// line
float line_width_{0.5};
// draw zero axis
bool zero_axis_{false};
// Draw the tics on the axis
bool on_axis_{false};
bool visible_{true};
// parent xlim
class axes_type *parent_;
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_AXIS_TYPE_H

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//
// Created by Alan Freitas on 04/08/20.
//
#ifndef MATPLOTPLUSPLUS_FIGURE_REGISTRY_H
#define MATPLOTPLUSPLUS_FIGURE_REGISTRY_H
#include <matplot/detail/config.h>
#include <matplot/core/figure_type.h>
namespace matplot {
using figure_handle = std::shared_ptr<figure_type>;
/// \brief Create a new figure
MATPLOT_EXPORTS
figure_handle figure_no_backend(bool quiet_mode);
/// \brief Create a new figure with a given backend
template <class BACKEND = backend::gnuplot>
figure_handle figure(bool quiet_mode) {
std::shared_ptr<backend::backend_interface> b =
create_backend<BACKEND>();
figure_handle f = figure_no_backend(quiet_mode);
f->backend(b);
return f;
}
/// \brief Create a new figure (reactive mode)
template <class BACKEND = backend::gnuplot> figure_handle figure() {
/// Take default mode from backend?
return figure<BACKEND>(false);
}
/// \brief Set the current figure
MATPLOT_EXPORTS
figure_handle figure(figure_handle h);
/// \brief Set the current figure
MATPLOT_EXPORTS
figure_handle figure(class figure_type *h);
/// \brief Get the current figure
MATPLOT_EXPORTS
figure_handle gcf();
/// \brief Get current figure in quiet mode
MATPLOT_EXPORTS
figure_handle gcf(bool quiet);
} // namespace matplot
#endif // MATPLOTPLUSPLUS_FIGURE_REGISTRY_H

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#ifndef MATPLOTPLUSPLUS_FIGURE_TYPE_H
#define MATPLOTPLUSPLUS_FIGURE_TYPE_H
#include <array>
#include <fstream>
#include <iostream>
#include <matplot/backend/backend_registry.h>
#include <matplot/backend/gnuplot.h>
#include <matplot/util/colors.h>
#include <matplot/util/handle_types.h>
#include <matplot/util/popen.h>
#include <matplot/detail/config.h>
#include <stdio.h>
#include <string>
#include <vector>
namespace matplot {
class axes_type;
/// \class Figure
/// From Figures, we can create plot handles and
/// multiplot handles that contain other plot handles.
/// - Figure objects have axis objects
/// - Axis objects have plot object
///
/// When we plot the any of these subobjects, they will
/// send the appropriate commands to the parent Figure/pipe
/// to plot it.
///
/// If we create more Figures, we create more plot windows,
/// but we don't really recommend doing that. It's better
/// to only use the default pipe for everything and use
/// multiplots if more plots are needed.
class MATPLOT_EXPORTS figure_type {
public:
friend class axes_type;
// Remove the copy operators because users are not
// supposed to use this object directly.
// Users will use a figure_handle which can be copied
// and still reference to the same object.
figure_type(figure_type const &) = delete;
void operator=(figure_type const &) = delete;
/// \brief Create a Figure window
figure_type();
/// \brief Create a Figure window
explicit figure_type(bool quiet_mode);
/// \brief Create a Figure window
explicit figure_type(size_t index);
/// \brief Create a Figure window
explicit figure_type(size_t index, bool quiet_mode);
/// \brief The destructor closes the pipe
virtual ~figure_type();
public /* manage axes */:
/// \brief Create new axes in a figure
axes_handle add_axes(bool replace_if_overlap = false);
/// \brief Create new axes in position
/// Don't replace any axes that might overlap
/// Replace any axes exactly in the same position
/// \param position: x, y, width, height (all from 0 to 1)
/// \return Handle to new axes
axes_handle add_axes(std::array<float, 4> position);
/// \brief Add existing axes to the figure
/// If we find axes in the exact same position, we can replace
/// the axes with the new axes or we can get a handle
/// to the existing axes. If we don't find axes in the exact
/// same position, we remove any other axes overlapping the new
/// axes and return a handle to the new axes.
/// \param ax Handle to the new axes
/// \param replace_if_overlap Replace any axes that overlap at all
/// \param replace_if_same_position Replace any axes that are exactly in
/// the same position \return Handle to new axes
axes_handle add_axes(std::shared_ptr<class axes_type> ax,
bool replace_if_overlap,
bool replace_if_same_position);
/// \brief Add a subplot
/// The subplot is an axes with its position determined by the number of
/// rows, columns, and id
axes_handle add_subplot(size_t rows, size_t cols, size_t plot_id,
bool replace_if_same_position = false);
/// \brief Make axes a subplot of this figure
axes_handle add_subplot(size_t rows, size_t cols, size_t plot_id,
axes_handle axes);
/// \brief Create new axes in a subplot covering all positions in P
axes_handle add_subplot(size_t rows, size_t cols,
std::initializer_list<size_t> P,
bool replace_if_same_position = false);
/// \brief Create new subplot in a specific position
axes_handle add_subplot(std::array<float, 4> position,
bool replace_if_same_position = false);
/// \brief Get next tile in a tiled layout
/// In tiled layouts, we create new axes for each new tile.
/// The tile positions are determined according to the number
/// of rows/columns provided by `tiledlayout()`.
/// When creating a new tile, if there are more tiles than rows *
/// columns, we increase the number of rows or columns to make the new
/// tile fit. The position of old tiled is adjusted to the new number of
/// rows and columns.
void tiledlayout(size_t rows = 1, size_t cols = 1);
/// \brief Add next tile to plot
axes_handle nexttile();
/// \brief Add next tile to plot at position index
axes_handle nexttile(size_t index);
/// Get reference to current axes / create new axes if it does not exist
std::shared_ptr<class axes_type> current_axes();
/// Get reference to current axes
std::shared_ptr<class axes_type> current_axes() const;
/// Set current axes in the figure
void current_axes(const std::shared_ptr<class axes_type> &current_axes);
/// \brief Get reference to vector with all child axes
const std::vector<std::shared_ptr<class axes_type>> &children() const;
void
children(const std::vector<std::shared_ptr<class axes_type>> &children);
protected:
static std::array<float, 4>
calculate_subplot_position(size_t rows, size_t cols, size_t plot_id);
public /* manage figure reactive mode */:
/// \brief Draw the current figure (for figures in quiet/non-reactive
/// mode) Flush the buffer to the pipe, updating or creating the plot
/// window
void draw();
/// \brief Draw the current figure and pause the console
/// This is useful to keep the figure open, usually by the end
/// of a program. Never use this function inside a library
/// meant to be used non-interactively.
void show();
/// \brief Plot the figure if not in quiet mode
/// In some applications, we want the default behaviour
/// where we update the plot whenever we change a figure
/// property. This is usually what we want when tracking
/// the behaviour of an algorithm of something like that.
/// In some other applications, however, we just want
/// to plot when we explicitly call the plot function.
/// This is the case when producing plots for papers, etc.
/// This is also the case in applications where we need
/// performance.
void touch();
/// True if user required the backend to close
bool should_close();
/// True if in quiet mode (not reactive)
bool quiet_mode() const;
/// Set quite mode (non-reactive)
void quiet_mode(bool quiet_mode);
/// True if in quiet mode (not reactive)
bool reactive_mode() const;
/// Set quite mode (non-reactive)
void reactive_mode(bool reactive_mode);
/// Turn on reactive mode (off quiet mode)
void ion();
/// Turn off reactive mode (on quiet mode)
void ioff();
public /* save figure */:
/// Save figure
bool save(const std::string &filename, const std::string &format);
bool save(const std::string &filename);
public /* plot functions for figure */:
/// Create matrix of axes with scatter plots - X / Y
std::tuple<std::vector<std::vector<scatter_handle>>,
std::vector<histogram_handle>,
std::vector<std::vector<axes_handle>>>
plotmatrix(const std::vector<std::vector<double>> &X,
const std::vector<std::vector<double>> &Y,
std::string_view line_spec = "of",
bool histogram_on_diagonals = false);
/// Create matrix of axes with scatter plots - X / X
std::tuple<std::vector<std::vector<scatter_handle>>,
std::vector<histogram_handle>,
std::vector<std::vector<axes_handle>>>
plotmatrix(const std::vector<std::vector<double>> &X,
std::string_view line_spec = "of",
bool histogram_on_diagonals = false) {
return this->plotmatrix(X, X, line_spec, histogram_on_diagonals);
}
public /* figure properties */:
const std::shared_ptr<backend::backend_interface> &backend() const;
void
backend(const std::shared_ptr<backend::backend_interface> &new_backend);
void name(std::string_view name);
std::string name() const;
size_t number() const;
void color(const color_array &c);
void color(const std::array<float, 3> &c);
void color(std::string_view c);
void color(const enum color &c);
color_array color() const;
bool custom_color() const;
void custom_color(bool custom_color);
void position(const std::array<unsigned, 4> &c);
void position(unsigned x, unsigned y, unsigned w, unsigned h);
void position(unsigned x, unsigned y);
void size(unsigned w, unsigned h);
std::array<unsigned, 4> position() const;
unsigned x_position() const;
void x_position(unsigned x);
unsigned y_position() const;
void y_position(unsigned y);
unsigned width() const;
void width(unsigned w);
unsigned height() const;
void height(unsigned h);
void number_title(bool number_title);
bool number_title() const;
const std::string &font() const;
void font(std::string_view font);
float font_size() const;
void font_size(float font_size);
const std::string &title() const;
void title(std::string_view title);
const color_array &title_color() const;
void title_color(const color_array &title_color);
float title_font_size_multiplier() const;
void title_font_size_multiplier(float title_font_size_multiplier);
/// Return if Figure is valid
explicit operator bool() const;
protected:
// Draw, depending on the backend type
void send_draw_commands();
void send_gnuplot_draw_commands();
protected /* run commands on a gnuplot pipe if that's our backend */:
/// \brief Send line and newline to gnu plot pipe and flush
/// We can buffer the lines until the end of data is sent
void run_command(const std::string &text);
/// \brief Include a comment in the gnuplot code
/// This is useful when tracing the gnuplot commands
/// and when generating a gnuplot file.
void include_comment(const std::string &text);
/// \brief Send commands to gnuplots
void flush_commands();
/// Plots an empty plot command
void plot_empty_plot();
/// \brief Run commands to set the appropriate window properties
/// This applies of member objects to the window (font, size, ...)
void run_figure_properties_command();
void run_terminal_init_command();
void run_window_color_command();
void run_unset_window_color_command();
void run_multiplot_command();
private:
[[nodiscard]] std::string generate_window_title() const;
private:
// The default backend for this figure
std::shared_ptr<backend::backend_interface> backend_{nullptr};
// Figure properties
bool quiet_mode_ = true;
bool is_plotting_{false};
std::string name_;
std::string title_;
color_array title_color_{0, 0, 0, 0};
float title_font_size_multiplier_{1.4f};
size_t number_{1};
bool number_title_{true};
// ARGB
color_array color_{0., 0.94f, 0.94f, 0.94f};
bool custom_color_{false}; // was this color defined by the user
std::string font_{"Helvetica"};
float font_size_{10.};
// Axes
std::vector<std::shared_ptr<class axes_type>> children_;
std::shared_ptr<class axes_type> current_axes_;
// Axes tiles
size_t current_tile_index_ = 0;
size_t tiledlayout_rows_ = 1;
size_t tiledlayout_cols_ = 1;
bool tiledlayout_flow_ = true;
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_FIGURE_TYPE_H

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//
// Created by Alan Freitas on 2020-07-04.
//
#ifndef MATPLOTPLUSPLUS_LEGEND_H
#define MATPLOTPLUSPLUS_LEGEND_H
#include <array>
#include <matplot/core/line_spec.h>
#include <matplot/util/handle_types.h>
#include <string>
#include <vector>
namespace matplot {
class axes_type;
class MATPLOT_EXPORTS legend {
public:
enum class horizontal_alignment { left, center, right };
enum class vertical_alignment { top, center, bottom };
enum class general_alignment {
topleft,
top,
topright,
left,
center,
right,
bottomleft,
bottom,
bottomright,
};
public:
legend() = default;
legend(class axes_type *parent);
legend(class axes_type *parent,
std::initializer_list<std::string> names);
legend(class axes_type *parent, const std::vector<std::string> &names);
public /* useful functions */:
void touch();
const std::string &operator[](size_t index) const;
std::string &operator[](size_t index);
bool empty() const;
size_t size() const;
std::vector<std::string>::const_iterator begin() const;
std::vector<std::string>::iterator begin();
std::vector<std::string>::const_iterator end() const;
std::vector<std::string>::iterator end();
public /* getter and setters */:
std::vector<std::string> &strings();
const std::vector<std::string> &strings() const;
void strings(const std::vector<std::string> &strings);
void inside(bool inside);
bool inside() const;
bool label_after_sample() const;
void label_after_sample(bool label_after_sample);
bool box() const;
void box(bool box);
const line_spec &box_line() const;
line_spec &box_line();
void box_line(const line_spec &box_line);
bool vertical() const;
void vertical(bool vertical);
bool horizontal() const;
void horizontal(bool horizontal);
// Legend location given a reference position
// If the position is automatic, the reference is the xlim
// If the position is a manual point, the reference is this point
general_alignment location() const;
void location(general_alignment alignment);
horizontal_alignment horizontal_location() const;
void horizontal_location(horizontal_alignment horizontal_location);
vertical_alignment vertical_location() const;
void vertical_location(vertical_alignment vertical_location);
bool manual_position() const;
void manual_position(bool manual_position);
const std::array<float, 2> &position() const;
void position(const std::array<float, 2> &position);
bool invert() const;
void invert(bool invert);
size_t num_columns() const;
void num_columns(size_t num_columns);
size_t num_rows() const;
void num_rows(size_t num_rows);
bool visible() const;
void visible(bool visible);
const std::string &title() const;
void title(std::string_view title);
const std::string &font_name() const;
void font_name(std::string_view font_name);
float font_size() const;
void font_size(float font_size);
const std::string &font_angle() const;
void font_angle(std::string_view font_angle);
const std::string &font_weight() const;
void font_weight(std::string_view font_weight);
const color_array &text_color() const;
void text_color(const color_array &text_color);
template <class T> void text_color(T c) { text_color(to_array(c)); }
bool opaque() const;
void opaque(bool opaque);
private:
// The keys
std::vector<std::string> strings_{};
std::string title_{""};
// Positioning
bool inside_{true};
bool manual_position_{false};
std::array<float, 2> position_{0.0, 0.0};
horizontal_alignment horizontal_location_{horizontal_alignment::right};
vertical_alignment vertical_location_{vertical_alignment::top};
// Font
std::string font_name_{"Helvetica"};
float font_size_{11};
std::string font_angle_{"normal"};
std::string font_weight_{"bold"};
color_array text_color_{0., 0, 0, 0};
// Style
bool box_{true};
line_spec box_line_{"k-"};
// color_array color_{0., 1, 1, 1};
bool vertical_{true};
bool label_after_sample_{true};
bool invert_{false};
bool visible_{true};
bool opaque_{true};
size_t num_columns_{0};
size_t num_rows_{0};
// Parent xlim
class axes_type *parent_{nullptr};
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_LEGEND_H

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//
// Created by Alan Freitas on 2020-07-06.
//
#ifndef MATPLOTPLUSPLUS_LINE_SPEC_H
#define MATPLOTPLUSPLUS_LINE_SPEC_H
#include <array>
#include <functional>
#include <matplot/util/colors.h>
#include <matplot/util/concepts.h>
namespace matplot {
class MATPLOT_EXPORTS line_spec {
public:
enum class line_style {
none, // no line
solid_line, // "-"
dashed_line, // "--"
dotted_line, // ":"
dash_dot_line, // "-."
};
enum class marker_style {
none, // "" -> gnuplot linetype -1
plus_sign, // "+" -> gnuplot linetype 1
circle, // "o" -> gnuplot linetype 6
asterisk, // "*" -> gnuplot linetype 3
point, // "." -> gnuplot linetype 7
cross, // "x" -> gnuplot linetype 2
square, // "s" / "square" -> gnuplot linetype 4 / 5
diamond, // "d" / "diamond" -> gnuplot linetype 12 / 13
upward_pointing_triangle, // "^" -> gnuplot linetype 8 / 9
downward_pointing_triangle, // "v" -> gnuplot linetype 10 / 11
right_pointing_triangle, // ">" -> gnuplot linetype (doest not
// exist)
left_pointing_triangle, // "<" -> gnuplot linetype (does not exist)
pentagram, // "p" / "pentagram" -> gnuplot linetype 14 / 15
hexagram, // "h" / "hexagram" -> gnuplot linetype (does not exist)
custom, // https://stackoverflow.com/questions/16189187/gnuplot-using-custom-point-shapes-with-legend-entry
};
enum class style_to_plot {
// plot line with markers together
plot_line_and_marker,
// plot only line
plot_line_only,
// plot only markers
plot_marker_only,
// plot only marker face
plot_marker_face_only
};
public:
line_spec();
explicit line_spec(std::string_view expr);
template <class T>
line_spec(Pointer<T> parent, std::string_view expr)
: line_spec(expr) {
touch_function_ = [parent]() { parent->touch(); };
}
public:
/// \brief Create string to apply this style in gnuplot
/// This includes the style for the line and the marker
/// It's only possible to set the color for one of them
std::string
plot_string(style_to_plot sty = style_to_plot::plot_line_and_marker,
bool include_style = true);
/// Get line_spec properties from a string
void parse_string(std::string_view expr);
/// \brief True if we can plot line and marker with only one plot
/// command We can plot them together "with linespoints" if:
/// - They both are different from none
/// - They have the same color
bool can_plot_line_and_marker_together();
/// \brief True if style includes a line
bool has_line();
/// \brief True if style includes a non custom marker
bool has_non_custom_marker();
/// \brief True if style includes a marker face
bool has_marker_face();
/// \brief True if line, marker, and marker face are the same color
[[nodiscard]] bool line_and_marker_are_the_same_color() const;
/// \brief True if marker and marker face are the same color
[[nodiscard]] bool marker_and_face_are_the_same_color() const;
/// Touch the parent element
void touch();
[[nodiscard]] const std::array<float, 4> &color() const;
[[nodiscard]] float alpha() const;
void color(const std::array<float, 3> &color);
void color(const std::array<float, 4> &color);
void color(std::initializer_list<float> color);
void color(std::string_view color);
void color(enum color marker_color);
void alpha(float alpha);
[[nodiscard]] bool user_color() const;
void user_color(bool user_color);
[[nodiscard]] line_style line_style() const;
void line_style(enum line_style line_style);
[[nodiscard]] float line_width() const;
void line_width(float line_width);
[[nodiscard]] enum marker_style marker_style() const;
void marker_style(enum marker_style marker_style);
void marker_style(std::string_view marker_style);
[[nodiscard]] enum marker_style marker() const;
template <class T> void marker(T marker) { marker_style(marker); }
[[nodiscard]] const std::string &custom_marker() const;
void custom_marker(std::string_view custom_marker);
[[nodiscard]] float marker_size() const;
void marker_size(float marker_size);
const std::array<float, 4> &marker_color() const;
float marker_alpha() const;
void marker_color(const std::array<float, 3> &color);
void marker_color(const std::array<float, 4> &color);
void marker_color(std::initializer_list<float> color);
void marker_color(std::string_view color);
void marker_color(enum color marker_color);
void marker_alpha(float alpha);
bool marker_user_color() const;
void marker_user_color(bool user_color);
const std::array<float, 4> &marker_face_color() const;
float marker_face_alpha() const;
void marker_face_color(const std::array<float, 3> &color);
void marker_face_color(const std::array<float, 4> &color);
void marker_face_color(std::initializer_list<float> color);
void marker_face_color(std::string_view color);
void marker_face_color(enum color marker_face_color);
void marker_face_alpha(float alpha);
bool marker_face_user_color() const;
void marker_face_user_color(bool user_color);
bool marker_face() const;
void marker_face(bool marker_face);
private:
// use labels for non-custom markers:
// set label '▶︎' at 2,2
// set label '◀' at 3,3
// set label '✶' at 4,4
// plot cos(x) with linespoints linecolor rgb "#000000" dashtype 3
// linewidth 3 linetype 4 unset label
private:
// Line
std::array<float, 4> color_{0, 0, 0.447f, 0.741f};
// Did the user provide a color or is the color just a placeholder
bool user_color_{false};
enum line_style line_style_ { line_style::none };
float line_width_{0.5000};
// Marker
enum marker_style marker_style_ { marker_style::none };
std::array<float, 4> marker_color_{0, 0, 0.447f, 0.741f};
bool marker_user_color_{false};
std::string custom_marker_{""};
float marker_size_{6};
// Marker face
std::array<float, 4> marker_face_color_{0, 0.84f, 1., 1.};
bool marker_face_user_color_{false};
bool marker_face_ = false;
// Function to touch the parent element
std::function<void()> touch_function_;
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_LINE_SPEC_H

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//
// Copyright (c) 2023 alandefreitas (alandefreitas@gmail.com)
//
// Distributed under the Boost Software License, Version 1.0.
// https://www.boost.org/LICENSE_1_0.txt
//
#ifndef MATPLOT_DETAIL_CONFIG_H
#define MATPLOT_DETAIL_CONFIG_H
#include <matplot/detail/exports.h>
#endif //MATPLOT_DETAIL_CONFIG_H

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#ifndef MATPLOT_EXPORTS_H
#define MATPLOT_EXPORTS_H
#ifdef SHARED_EXPORTS_BUILT_AS_STATIC
# define MATPLOT_EXPORTS
# define MATPLOT_NO_EXPORT
#else
# ifndef MATPLOT_EXPORTS
# ifdef matplot_EXPORTS
/* We are building this library */
# define MATPLOT_EXPORTS __attribute__((visibility("default")))
# else
/* We are using this library */
# define MATPLOT_EXPORTS __attribute__((visibility("default")))
# endif
# endif
# ifndef MATPLOT_NO_EXPORT
# define MATPLOT_NO_EXPORT __attribute__((visibility("hidden")))
# endif
#endif
#ifndef MATPLOT_DEPRECATED
# define MATPLOT_DEPRECATED __attribute__ ((__deprecated__))
#endif
#ifndef MATPLOT_DEPRECATED_EXPORT
# define MATPLOT_DEPRECATED_EXPORT MATPLOT_EXPORTS MATPLOT_DEPRECATED
#endif
#ifndef MATPLOT_DEPRECATED_NO_EXPORT
# define MATPLOT_DEPRECATED_NO_EXPORT MATPLOT_NO_EXPORT MATPLOT_DEPRECATED
#endif
#if 0 /* DEFINE_NO_DEPRECATED */
# ifndef MATPLOT_NO_DEPRECATED
# define MATPLOT_NO_DEPRECATED
# endif
#endif
#endif /* MATPLOT_EXPORTS_H */

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//
// Created by Alan Freitas on 10/08/20.
//
#ifndef MATPLOTPLUSPLUS_AXES_FUNCTIONS_H
#define MATPLOTPLUSPLUS_AXES_FUNCTIONS_H
#include <matplot/detail/config.h>
#include <matplot/core/axes_type.h>
namespace matplot {
using axes_handle = std::shared_ptr<class axes_type>;
/// \brief Create new axes
MATPLOT_EXPORTS
axes_handle axes();
/// \brief Create new axes
MATPLOT_EXPORTS
axes_handle axes(figure_handle parent, bool replace_if_overlap = false);
/// \brief Set the current axes
MATPLOT_EXPORTS
axes_handle axes(axes_handle h);
/// \brief Put axes in parent
MATPLOT_EXPORTS
axes_handle axes(axes_handle h, figure_handle parent,
bool replace_if_overlap = false);
/// \brief Create new axes in a specific position with replace = false
MATPLOT_EXPORTS
axes_handle axes(std::array<float, 4> position);
MATPLOT_EXPORTS
void hold(bool);
MATPLOT_EXPORTS
void hold(axes_handle, bool);
MATPLOT_EXPORTS
void hold(const std::vector<axes_handle> &axs, bool);
MATPLOT_EXPORTS
void box(bool);
MATPLOT_EXPORTS
void box(axes_handle, bool);
/// Set view with azimuth and elevation
MATPLOT_EXPORTS
void view(float azimuth, float elevation);
MATPLOT_EXPORTS
void view(axes_handle ax, float azimuth, float elevation);
/// Set view with azimuth and elevation
MATPLOT_EXPORTS
void rotate(float azimuth = 10., float elevation = 0.);
MATPLOT_EXPORTS
void rotate(axes_handle ax, float azimuth = 10., float elevation = 0.);
/// Coordinates of a vector that starts at the center of the
/// plot box and points toward the camera (line-of-sight vector)
MATPLOT_EXPORTS
std::pair<float, float> view(float x, float y, float z);
MATPLOT_EXPORTS
std::pair<float, float> view(axes_handle ax, float x, float y, float z);
/// Default line of sight for dim-D plots
/// If dim=2 "set view map"
/// If dim=3 set view to default
MATPLOT_EXPORTS
void view(size_t dim);
MATPLOT_EXPORTS
void view(axes_handle ax, size_t dim);
/// Get view values
MATPLOT_EXPORTS
std::pair<float, float> view();
MATPLOT_EXPORTS
std::pair<float, float> view(axes_handle ax);
/// \brief Create new axes in a subplot
/// If the axes exist, make it the current axes.
/// If the axes overlap with existing axes, these are deleted,
/// unless the position is identical.
MATPLOT_EXPORTS
axes_handle subplot(size_t rows, size_t cols, size_t plot_id,
bool replace_if_same_position = false);
MATPLOT_EXPORTS
axes_handle subplot(figure_handle, size_t rows, size_t cols, size_t plot_id,
bool replace_if_same_position = false);
/// \brief Make axes a subplot of its figure
MATPLOT_EXPORTS
axes_handle subplot(size_t rows, size_t cols, size_t plot_id,
axes_handle axes);
/// \brief Create new axes in a subplot covering all positions in P
MATPLOT_EXPORTS
axes_handle subplot(size_t rows, size_t cols,
std::initializer_list<size_t> P,
bool replace_if_same_position = false);
/// \brief Create new axes in a specific position
MATPLOT_EXPORTS
axes_handle subplot(figure_handle f, std::array<float, 4> position,
bool replace_if_same_position = false);
MATPLOT_EXPORTS
axes_handle subplot(std::array<float, 4> position,
bool replace_if_same_position = false);
/// \brief Make axes the current axes
/// Another way to axes(h)
MATPLOT_EXPORTS
axes_handle subplot(axes_handle h);
/// \brief Make axes in a tiled layout
/// This is only very basic support for tiled
/// layouts. It does not include a tiledlayout
/// class we can use to adjust padding, spacing,
/// title, etc.
MATPLOT_EXPORTS
void tiledlayout();
MATPLOT_EXPORTS
void tiledlayout(size_t rows, size_t cols);
MATPLOT_EXPORTS
axes_handle nexttile();
MATPLOT_EXPORTS
axes_handle nexttile(size_t index);
MATPLOT_EXPORTS
void title(std::string_view str);
MATPLOT_EXPORTS
void title(std::string_view str, const color_array &c);
template <class COLOR_TYPE>
void title(std::string_view str, COLOR_TYPE c) {
title(str, to_array(c));
}
MATPLOT_EXPORTS
void title(axes_handle ax, std::string_view str);
MATPLOT_EXPORTS
void title(axes_handle ax, std::string_view str, const color_array &c);
template <class COLOR_TYPE>
void title(axes_handle ax, std::string_view str, COLOR_TYPE c) {
title(ax, str, to_array(c));
}
MATPLOT_EXPORTS
void title(legend_handle lgd, std::string_view str);
MATPLOT_EXPORTS
void sgtitle(std::string_view str);
MATPLOT_EXPORTS
void sgtitle(std::string_view str, const color_array &c);
template <class COLOR_TYPE>
void sgtitle(std::string_view str, COLOR_TYPE c) {
sgtitle(str, to_array(c));
}
MATPLOT_EXPORTS
void sgtitle(axes_handle ax, std::string_view str);
MATPLOT_EXPORTS
void sgtitle(axes_handle ax, std::string_view str, const color_array &c);
template <class COLOR_TYPE>
void sgtitle(axes_handle ax, std::string_view str, COLOR_TYPE c) {
sgtitle(ax, str, to_array(c));
}
MATPLOT_EXPORTS
void xlabel(std::string_view str);
MATPLOT_EXPORTS
void xlabel(axes_handle ax, std::string_view str);
MATPLOT_EXPORTS
void ylabel(std::string_view str);
MATPLOT_EXPORTS
void ylabel(axes_handle ax, std::string_view str);
MATPLOT_EXPORTS
void y2label(std::string_view str);
MATPLOT_EXPORTS
void y2label(axes_handle ax, std::string_view str);
MATPLOT_EXPORTS
void zlabel(std::string_view str);
MATPLOT_EXPORTS
void zlabel(axes_handle ax, std::string_view str);
MATPLOT_EXPORTS
void xtickformat(std::string_view str);
MATPLOT_EXPORTS
void xtickformat(axes_handle ax, std::string_view str);
MATPLOT_EXPORTS
void ytickformat(std::string_view str);
MATPLOT_EXPORTS
void ytickformat(axes_handle ax, std::string_view str);
MATPLOT_EXPORTS
void ztickformat(std::string_view str);
MATPLOT_EXPORTS
void ztickformat(axes_handle ax, std::string_view str);
MATPLOT_EXPORTS
std::string xtickformat();
MATPLOT_EXPORTS
std::string xtickformat(axes_handle ax);
MATPLOT_EXPORTS
std::string ytickformat();
MATPLOT_EXPORTS
std::string ytickformat(axes_handle ax);
MATPLOT_EXPORTS
std::string ztickformat();
MATPLOT_EXPORTS
std::string ztickformat(axes_handle ax);
MATPLOT_EXPORTS
void xticks(const std::vector<double> &ticks);
MATPLOT_EXPORTS
void xticks(axes_handle ax, const std::vector<double> &ticks);
MATPLOT_EXPORTS
void yticks(const std::vector<double> &ticks);
MATPLOT_EXPORTS
void yticks(axes_handle ax, const std::vector<double> &ticks);
MATPLOT_EXPORTS
void y2ticks(const std::vector<double> &ticks);
MATPLOT_EXPORTS
void y2ticks(axes_handle ax, const std::vector<double> &ticks);
MATPLOT_EXPORTS
void zticks(const std::vector<double> &ticks);
MATPLOT_EXPORTS
void zticks(axes_handle ax, const std::vector<double> &ticks);
MATPLOT_EXPORTS
void xticks(std::initializer_list<double> ticks);
MATPLOT_EXPORTS
void xticks(axes_handle ax, std::initializer_list<double> ticks);
MATPLOT_EXPORTS
void yticks(std::initializer_list<double> ticks);
MATPLOT_EXPORTS
void yticks(axes_handle ax, std::initializer_list<double> ticks);
MATPLOT_EXPORTS
void y2ticks(std::initializer_list<double> ticks);
MATPLOT_EXPORTS
void y2ticks(axes_handle ax, std::initializer_list<double> ticks);
MATPLOT_EXPORTS
void zticks(std::initializer_list<double> ticks);
MATPLOT_EXPORTS
void zticks(axes_handle ax, std::initializer_list<double> ticks);
MATPLOT_EXPORTS
void xticks(keyword_automatic_type);
MATPLOT_EXPORTS
void xticks(axes_handle ax, keyword_automatic_type);
MATPLOT_EXPORTS
void yticks(keyword_automatic_type);
MATPLOT_EXPORTS
void yticks(axes_handle ax, keyword_automatic_type);
MATPLOT_EXPORTS
void y2ticks(keyword_automatic_type);
MATPLOT_EXPORTS
void y2ticks(axes_handle ax, keyword_automatic_type);
MATPLOT_EXPORTS
void zticks(keyword_automatic_type);
MATPLOT_EXPORTS
void zticks(axes_handle ax, keyword_automatic_type);
MATPLOT_EXPORTS
void xticklabels(const std::vector<std::string> &ticks);
MATPLOT_EXPORTS
void xticklabels(axes_handle ax, const std::vector<std::string> &ticks);
MATPLOT_EXPORTS
void yticklabels(const std::vector<std::string> &ticks);
MATPLOT_EXPORTS
void yticklabels(axes_handle ax, const std::vector<std::string> &ticks);
MATPLOT_EXPORTS
void y2ticklabels(const std::vector<std::string> &ticks);
MATPLOT_EXPORTS
void y2ticklabels(axes_handle ax, const std::vector<std::string> &ticks);
MATPLOT_EXPORTS
void zticklabels(const std::vector<std::string> &ticks);
MATPLOT_EXPORTS
void zticklabels(axes_handle ax, const std::vector<std::string> &ticks);
MATPLOT_EXPORTS
void xticklabels(std::initializer_list<std::string> ticks);
MATPLOT_EXPORTS
void xticklabels(axes_handle ax, std::initializer_list<std::string> ticks);
MATPLOT_EXPORTS
void yticklabels(std::initializer_list<std::string> ticks);
MATPLOT_EXPORTS
void yticklabels(axes_handle ax, std::initializer_list<std::string> ticks);
MATPLOT_EXPORTS
void y2ticklabels(std::initializer_list<std::string> ticks);
MATPLOT_EXPORTS
void y2ticklabels(axes_handle ax, std::initializer_list<std::string> ticks);
MATPLOT_EXPORTS
void zticklabels(std::initializer_list<std::string> ticks);
MATPLOT_EXPORTS
void zticklabels(axes_handle ax, std::initializer_list<std::string> ticks);
MATPLOT_EXPORTS
void xticklabels(keyword_automatic_type);
MATPLOT_EXPORTS
void xticklabels(axes_handle ax, keyword_automatic_type);
MATPLOT_EXPORTS
void yticklabels(keyword_automatic_type);
MATPLOT_EXPORTS
void yticklabels(axes_handle ax, keyword_automatic_type);
MATPLOT_EXPORTS
void y2ticklabels(keyword_automatic_type);
MATPLOT_EXPORTS
void y2ticklabels(axes_handle ax, keyword_automatic_type);
MATPLOT_EXPORTS
void zticklabels(keyword_automatic_type);
MATPLOT_EXPORTS
void zticklabels(axes_handle ax, keyword_automatic_type);
MATPLOT_EXPORTS
void xtickangle(double degrees);
MATPLOT_EXPORTS
void xtickangle(axes_handle ax, double degrees);
MATPLOT_EXPORTS
void ytickangle(double degrees);
MATPLOT_EXPORTS
void ytickangle(axes_handle ax, double degrees);
MATPLOT_EXPORTS
void y2tickangle(double degrees);
MATPLOT_EXPORTS
void y2tickangle(axes_handle ax, double degrees);
MATPLOT_EXPORTS
void ztickangle(double degrees);
MATPLOT_EXPORTS
void ztickangle(axes_handle ax, double degrees);
MATPLOT_EXPORTS
double xtickangle();
MATPLOT_EXPORTS
double xtickangle(axes_handle ax);
MATPLOT_EXPORTS
double ytickangle();
MATPLOT_EXPORTS
double ytickangle(axes_handle ax);
MATPLOT_EXPORTS
double y2tickangle();
MATPLOT_EXPORTS
double y2tickangle(axes_handle ax);
MATPLOT_EXPORTS
double ztickangle();
MATPLOT_EXPORTS
double ztickangle(axes_handle ax);
MATPLOT_EXPORTS
void grid(axes_handle ax, bool v);
MATPLOT_EXPORTS
void grid(bool v);
/// \brief Get the current axes
MATPLOT_EXPORTS
axes_handle gca();
MATPLOT_EXPORTS
void cla();
MATPLOT_EXPORTS
void cla(axes_handle);
/// Put legends on the figure
MATPLOT_EXPORTS
legend_handle legend(axes_handle ax, const std::vector<std::string> &names);
MATPLOT_EXPORTS
legend_handle legend(const std::vector<std::string> &names);
MATPLOT_EXPORTS
legend_handle legend(axes_handle ax, bool visible = true);
MATPLOT_EXPORTS
legend_handle legend(bool visible = true);
MATPLOT_EXPORTS
legend_handle legend(std::vector<axes_object_handle> objs,
const std::vector<std::string> &names);
// Hackfix for a compiler bug in MSVC
namespace {
template <typename... Args>
legend_handle legend(axes_handle ax, std::string_view name,
Args const &... next_name) {
std::vector<std::string> legends = {std::string(name), std::string(next_name)...};
return ::matplot::legend(ax, legends);
}
template <typename... Args>
legend_handle legend(std::string_view name,
Args const &... next_name) {
return legend(gca(), name, next_name...);
}
} // namespace
MATPLOT_EXPORTS
void colormap(axes_handle ax, const std::vector<std::vector<double>> &map);
MATPLOT_EXPORTS
void colormap(const std::vector<std::vector<double>> &map);
MATPLOT_EXPORTS
std::vector<std::vector<double>> colormap(axes_handle ax);
MATPLOT_EXPORTS
std::vector<std::vector<double>> colormap();
template <class T>
void colororder(axes_handle ax, const std::vector<T> &order) {
ax->colororder(order);
}
template <class T> void colororder(const std::vector<T> &order) {
colororder(gca(), order);
}
template <class T> void colororder(std::initializer_list<T> order) {
colororder(gca(), std::vector<T>{order});
}
/// Set x limits
MATPLOT_EXPORTS
void xrange(const std::array<double, 2> &range);
MATPLOT_EXPORTS
void xrange(axes_handle ah, const std::array<double, 2> &range);
/// Set y limits
MATPLOT_EXPORTS
void yrange(const std::array<double, 2> &range);
MATPLOT_EXPORTS
void yrange(axes_handle ah, const std::array<double, 2> &range);
/// Enable colorbar axis
MATPLOT_EXPORTS
axis_type &colorbar();
MATPLOT_EXPORTS
axis_type &colorbar(axes_handle ah);
MATPLOT_EXPORTS
class axis_type &colorbar(bool v);
MATPLOT_EXPORTS
class axis_type &colorbar(axes_handle ah, bool v);
/// Set limits of x and y axes
MATPLOT_EXPORTS
void axis(const std::array<double, 4> &limits_x_y);
MATPLOT_EXPORTS
void axis(axes_handle axes_handle, const std::array<double, 4> &limits_x_y);
MATPLOT_EXPORTS
void axis(std::initializer_list<axes_handle> axes_handles,
const std::array<double, 4> &limits_x_y);
/// Make axis visible invisible
MATPLOT_EXPORTS
void axis(bool);
/// Set limits to automatic
MATPLOT_EXPORTS
void axis(keyword_automatic_type);
/// Set limits to manual
MATPLOT_EXPORTS
void axis(keyword_manual_type);
/// Reverse y-axis
MATPLOT_EXPORTS
void axis(keyword_ij_type);
/// Make xlim equal size (ratio -1)
MATPLOT_EXPORTS
void axis(keyword_equal_type);
MATPLOT_EXPORTS
void axis(axes_handle, keyword_equal_type);
/// Make xlim equal size (ratio -1)
MATPLOT_EXPORTS
void axis(keyword_tight_type);
MATPLOT_EXPORTS
void axis(axes_handle, keyword_tight_type);
/// Make xlim equal size (ratio 1)
MATPLOT_EXPORTS
void axis(keyword_square_type);
MATPLOT_EXPORTS
void axis(axes_handle, keyword_square_type);
} // namespace matplot
#endif // MATPLOTPLUSPLUS_AXES_FUNCTIONS_H

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//
// Created by Alan Freitas on 04/08/20.
//
#ifndef MATPLOTPLUSPLUS_AXES_LIM_H
#define MATPLOTPLUSPLUS_AXES_LIM_H
#include <matplot/core/axes_type.h>
namespace matplot {
inline std::array<double, 2> xlim() { return gca()->xlim(); }
inline void xlim(const std::array<double, 2> &lim) { gca()->xlim(lim); }
inline void xlim(std::initializer_list<double> lim) {
if (lim.size() >= 2) {
gca()->xlim(to_array<2>(lim));
}
}
template <class T, class... Args> void xlim(axes_handle ax, Args&&... args) {
ax->xlim(std::forward<Args>(args)...);
}
template <class T, class... Args>
void xlim(NotAxesHandle<T> x, Args&&... args) {
gca()->xlim(x, std::forward<Args>(args)...);
}
inline std::array<double, 2> cblim() { return gca()->cblim(); }
inline void cblim(const std::array<double, 2> &lim) { gca()->cblim(lim); }
inline void cblim(std::initializer_list<double> lim) {
if (lim.size() >= 2) {
gca()->cblim(to_array<2>(lim));
}
}
template <class T, class... Args> void cblim(axes_handle ax, Args&&... args) {
ax->cblim(std::forward<Args>(args)...);
}
template <class T, class... Args>
void cblim(NotAxesHandle<T> x, Args&&... args) {
gca()->cblim(x, std::forward<Args>(args)...);
}
inline std::array<double, 2> caxis() { return gca()->cblim(); }
inline void caxis(const std::array<double, 2> &lim) { gca()->cblim(lim); }
inline void caxis(std::initializer_list<double> lim) {
if (lim.size() >= 2) {
gca()->cblim(to_array<2>(lim));
}
}
template <class T, class... Args> void caxis(axes_handle ax, Args&&... args) {
ax->cblim(std::forward<Args>(args)...);
}
template <class T, class... Args>
void caxis(NotAxesHandle<T> x, Args&&... args) {
gca()->cblim(x, std::forward<Args>(args)...);
}
inline std::array<double, 2> x2lim() { return gca()->x2lim(); }
inline void x2lim(const std::array<double, 2> &lim) { gca()->x2lim(lim); }
inline void x2lim(std::initializer_list<double> lim) {
if (lim.size() >= 2) {
gca()->x2lim(to_array<2>(lim));
}
}
template <class T, class... Args> void x2lim(axes_handle ax, Args&&... args) {
ax->x2lim(std::forward<Args>(args)...);
}
template <class T, class... Args>
void x2lim(NotAxesHandle<T> x, Args&&... args) {
gca()->x2lim(x, std::forward<Args>(args)...);
}
inline std::array<double, 2> ylim() { return gca()->ylim(); }
inline void ylim(const std::array<double, 2> &lim) { gca()->ylim(lim); }
inline void ylim(std::initializer_list<double> lim) {
if (lim.size() >= 2) {
gca()->ylim(to_array<2>(lim));
}
}
template <class T, class... Args> void ylim(axes_handle ax, Args&&... args) {
ax->ylim(std::forward<Args>(args)...);
}
template <class T, class... Args>
void ylim(NotAxesHandle<T> x, Args&&... args) {
gca()->ylim(x, std::forward<Args>(args)...);
}
inline std::array<double, 2> y2lim() { return gca()->y2lim(); }
inline void y2lim(const std::array<double, 2> &lim) { gca()->y2lim(lim); }
inline void y2lim(std::initializer_list<double> lim) {
if (lim.size() >= 2) {
gca()->y2lim(to_array<2>(lim));
}
}
template <class T, class... Args> void y2lim(axes_handle ax, Args&&... args) {
ax->y2lim(std::forward<Args>(args)...);
}
template <class T, class... Args>
void y2lim(NotAxesHandle<T> x, Args&&... args) {
gca()->y2lim(x, std::forward<Args>(args)...);
}
inline std::array<double, 2> zlim() { return gca()->zlim(); }
inline void zlim(const std::array<double, 2> &lim) { gca()->zlim(lim); }
inline void zlim(std::initializer_list<double> lim) {
if (lim.size() >= 2) {
gca()->zlim(to_array<2>(lim));
}
}
template <class T, class... Args> void zlim(axes_handle ax, Args&&... args) {
ax->zlim(std::forward<Args>(args)...);
}
template <class T, class... Args>
void zlim(NotAxesHandle<T> x, Args&&... args) {
gca()->zlim(x, std::forward<Args>(args)...);
}
inline std::array<double, 2> rlim() { return gca()->rlim(); }
inline void rlim(const std::array<double, 2> &lim) { gca()->rlim(lim); }
inline void rlim(std::initializer_list<double> lim) {
if (lim.size() >= 2) {
gca()->rlim(to_array<2>(lim));
}
}
template <class T, class... Args> void rlim(axes_handle ax, Args&&... args) {
ax->rlim(std::forward<Args>(args)...);
}
template <class T, class... Args>
void rlim(NotAxesHandle<T> x, Args&&... args) {
gca()->rlim(x, std::forward<Args>(args)...);
}
inline std::array<double, 2> tlim() { return gca()->tlim(); }
inline void tlim(const std::array<double, 2> &lim) { gca()->tlim(lim); }
inline void tlim(std::initializer_list<double> lim) {
if (lim.size() >= 2) {
gca()->tlim(to_array<2>(lim));
}
}
template <class T, class... Args> void tlim(axes_handle ax, Args&&... args) {
ax->tlim(std::forward<Args>(args)...);
}
template <class T, class... Args>
void tlim(NotAxesHandle<T> x, Args&&... args) {
gca()->tlim(x, std::forward<Args>(args)...);
}
inline std::array<double, 2> xlim(axes_handle ax) {
return ax->xlim();
}
inline void xlim(axes_handle ax, const std::array<double, 2> &lim) {
ax->xlim(lim);
}
inline std::array<double, 2> x2lim(axes_handle ax) {
return ax->x2lim();
}
inline void x2lim(axes_handle ax, const std::array<double, 2> &lim) {
ax->x2lim(lim);
}
inline std::array<double, 2> ylim(axes_handle ax) {
return ax->ylim();
}
inline void ylim(axes_handle ax, const std::array<double, 2> &lim) {
ax->ylim(lim);
}
inline std::array<double, 2> y2lim(axes_handle ax) {
return ax->y2lim();
}
inline void y2lim(axes_handle ax, const std::array<double, 2> &lim) {
ax->y2lim(lim);
}
inline std::array<double, 2> zlim(axes_handle ax) {
return ax->zlim();
}
inline void zlim(axes_handle ax, const std::array<double, 2> &lim) {
ax->zlim(lim);
}
inline std::array<double, 2> rlim(axes_handle ax) {
return ax->rlim();
}
inline void rlim(axes_handle ax, const std::array<double, 2> &lim) {
ax->rlim(lim);
}
inline std::array<double, 2> tlim(axes_handle ax) {
return ax->tlim();
}
inline void tlim(axes_handle ax, const std::array<double, 2> &lim) {
ax->tlim(lim);
}
} // namespace matplot
#endif // MATPLOTPLUSPLUS_AXES_LIM_H

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//
// Created by Alan Freitas on 11/08/20.
//
#ifndef MATPLOTPLUSPLUS_FIGURE_FUNCTIONS_H
#define MATPLOTPLUSPLUS_FIGURE_FUNCTIONS_H
namespace matplot {}
#endif // MATPLOTPLUSPLUS_FIGURE_FUNCTIONS_H

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//
// Created by Alan Freitas on 10/08/20.
//
#ifndef MATPLOTPLUSPLUS_HISTCOUNTS_H
#define MATPLOTPLUSPLUS_HISTCOUNTS_H
#include <vector>
#include <matplot/axes_objects/histogram.h>
namespace matplot {
/// Histogram count with custom binning and custom normalization
/// \return Pair with <values per bin, edges>
MATPLOT_EXPORTS
std::pair<std::vector<double>, std::vector<double>>
histcounts(const std::vector<double> &data,
enum histogram::binning_algorithm binning_alg =
histogram::binning_algorithm::automatic,
enum histogram::normalization normalization_alg =
histogram::normalization::count);
/// Histogram count with automatic binning and custom normalization
/// \return pair with <values,edges>
MATPLOT_EXPORTS
std::pair<std::vector<double>, std::vector<double>>
histcounts(const std::vector<double> &data,
enum histogram::normalization normalization_alg);
/// Histogram count with fixed number of bins
/// \return pair with <values,edges>
MATPLOT_EXPORTS
std::pair<std::vector<double>, std::vector<double>>
histcounts(const std::vector<double> &data, size_t nbins,
enum histogram::normalization normalization_alg =
histogram::normalization::count);
/// Histogram count with fixed edges
/// \return normalized values for each edge
MATPLOT_EXPORTS
std::vector<double>
histcounts(const std::vector<double> &data,
const std::vector<double> &edges,
enum histogram::normalization normalization_alg =
histogram::normalization::count);
/// Normalize the number of points in a bin
MATPLOT_EXPORTS
std::vector<std::vector<double>>
histnormalize2(const std::vector<std::vector<size_t>> &bin_count,
const std::vector<double> &xbin_edges,
const std::vector<double> &ybin_edges, size_t data_size,
enum histogram::normalization normalization_algorithm);
/// Count number of points in each bin defined by the 2 dimensional edges
MATPLOT_EXPORTS
std::vector<std::vector<double>> histcounts2(
const std::vector<double> &x_data, const std::vector<double> &y_data,
const std::vector<double> &x_edges, const std::vector<double> &y_edges,
enum histogram::normalization normalization_algorithm =
histogram::normalization::count);
} // namespace matplot
#endif // MATPLOTPLUSPLUS_HISTCOUNTS_H

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//
// Created by Alan Freitas on 2020-07-08.
//
#ifndef MATPLOTPLUSPLUS_PLOT_H
#define MATPLOTPLUSPLUS_PLOT_H
#include <matplot/util/concepts.h>
#include <matplot/util/handle_types.h>
#include <matplot/core/axes_type.h>
#include <matplot/core/figure_registry.h>
#include <matplot/axes_objects/function_line.h>
#include <matplot/axes_objects/string_function.h>
#include <matplot/freestanding/axes_functions.h>
/**
* These are the freestanding plot functions
* These functions will call the corresponding functions in the axes handle
* If no axes handle is given, it will call the function in the current
* axes handle in the current figure.
* If there is no current axes handle, one is created in the current figure.
* If there is no current figure, one is created.
*
* They always forward the arguments as a parameter pack class ...Args.
* One problem with this is that the functions cannot infer what to do with
* initializer lists. So one needs to pass an explicit vector or array to
* the functions. In some cases, we explicitly define these shortcut
* functions without templates to make the use of initializer lists
* possible.
*/
namespace matplot {
template <class T1, class... Args>
auto plot(NotAxesHandle<T1> x, Args&&... args) {
return gca()->plot(x, std::forward<Args>(args)...);
}
template <class... Args> auto plot(axes_handle ax, Args&&... args) {
return ax->plot(std::forward<Args>(args)...);
}
inline line_handle plot(const std::vector<double> &x,
const std::vector<double> &y,
std::string_view line_spec = "") {
return gca()->plot(x, y, line_spec);
}
inline line_handle plot(const std::vector<double> &y,
std::string_view line_spec = "") {
return gca()->plot(y, line_spec);
}
template <class... Args>
auto plot(const std::vector<double> &x, const std::vector<double> &y,
std::string_view line_spec, Args&&... args) {
return gca()->plot(x, y, line_spec, std::forward<Args>(args)...);
}
template <class... Args>
auto plot(const std::vector<double> &x, const std::vector<double> &y,
const std::vector<double> &x2, Args&&... args) {
return gca()->plot(x, y, x2, std::forward<Args>(args)...);
}
template <class... Args>
auto plot(const std::vector<double> &y, std::string_view line_spec,
Args&&... args) {
return gca()->plot(y, line_spec, std::forward<Args>(args)...);
}
inline line_handle plot(axes_handle ax, const std::vector<double> &x,
const std::vector<double> &y,
std::string_view line_spec = "") {
return ax->plot(x, y, line_spec);
}
inline line_handle plot(axes_handle ax, const std::vector<double> &y,
std::string_view line_spec = "") {
return ax->plot(y, line_spec);
}
template <class... Args>
auto plot(axes_handle ax, const std::vector<double> &x,
const std::vector<double> &y, std::string_view line_spec,
Args&&... args) {
return ax->plot(x, y, line_spec, std::forward<Args>(args)...);
}
template <class... Args>
auto plot(axes_handle ax, const std::vector<double> &x,
const std::vector<double> &y, const std::vector<double> &x2,
Args&&... args) {
return ax->plot(x, y, x2, std::forward<Args>(args)...);
}
template <class... Args>
auto plot(axes_handle ax, const std::vector<double> &y,
std::string_view line_spec, Args&&... args) {
return ax->plot(y, line_spec, std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto loglog(NotAxesHandle<T1> x, Args&&... args) {
return gca()->loglog(x, std::forward<Args>(args)...);
}
template <class... Args> auto loglog(axes_handle ax, Args&&... args) {
return ax->loglog(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto semilogx(NotAxesHandle<T1> x, Args&&... args) {
return gca()->semilogx(x, std::forward<Args>(args)...);
}
template <class... Args> auto semilogx(axes_handle ax, Args&&... args) {
return ax->semilogx(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto semilogy(NotAxesHandle<T1> x, Args&&... args) {
return gca()->semilogy(x, std::forward<Args>(args)...);
}
template <class... Args> auto semilogy(axes_handle ax, Args&&... args) {
return ax->semilogy(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto rgbplot(NotAxesHandle<T1> x, Args&&... args) {
return gca()->rgbplot(x, std::forward<Args>(args)...);
}
template <class... Args> auto rgbplot(axes_handle ax, Args&&... args) {
return ax->rgbplot(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto plot3(NotAxesHandle<T1> x, Args&&... args) {
return gca()->plot3(x, std::forward<Args>(args)...);
}
template <class... Args> auto plot3(axes_handle ax, Args&&... args) {
return ax->plot3(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto stairs(NotAxesHandle<T1> x, Args&&... args) {
return gca()->stairs(x, std::forward<Args>(args)...);
}
template <class... Args> auto stairs(axes_handle ax, Args&&... args) {
return ax->stairs(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto errorbar(NotAxesHandle<T1> x, Args&&... args) {
return gca()->errorbar(x, std::forward<Args>(args)...);
}
template <class... Args> auto errorbar(axes_handle ax, Args&&... args) {
return ax->errorbar(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto area(NotAxesHandle<T1> x, Args&&... args) {
return gca()->area(x, std::forward<Args>(args)...);
}
template <class... Args> auto area(axes_handle ax, Args&&... args) {
return ax->area(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto fplot(NotAxesHandle<T1> x, Args&&... args) {
return gca()->fplot(x, std::forward<Args>(args)...);
}
template <class... Args> auto fplot(axes_handle ax, Args&&... args) {
return ax->fplot(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto fimplicit(NotAxesHandle<T1> x, Args&&... args) {
return gca()->fimplicit(x, std::forward<Args>(args)...);
}
template <class... Args> auto fimplicit(axes_handle ax, Args&&... args) {
return ax->fimplicit(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto fplot3(NotAxesHandle<T1> x, Args&&... args) {
return gca()->fplot3(x, std::forward<Args>(args)...);
}
template <class... Args> auto fplot3(axes_handle ax, Args&&... args) {
return ax->fplot3(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto hist(NotAxesHandle<T1> x, Args&&... args) {
return gca()->hist(x, std::forward<Args>(args)...);
}
template <class... Args> auto hist(axes_handle ax, Args&&... args) {
return ax->hist(std::forward<Args>(args)...);
}
inline size_t morebins(histogram_handle h, double bin_increase = 0.1) {
return h->morebins(bin_increase);
}
inline size_t fewerbins(histogram_handle h, double bin_decrease = 0.1) {
return h->fewerbins(bin_decrease);
}
template <class T1, class... Args>
auto binscatter(NotAxesHandle<T1> x, Args&&... args) {
return gca()->binscatter(x, std::forward<Args>(args)...);
}
template <class... Args> auto binscatter(axes_handle ax, Args&&... args) {
return ax->binscatter(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto hist2(NotAxesHandle<T1> x, Args&&... args) {
return gca()->hist2(x, std::forward<Args>(args)...);
}
template <class... Args> auto hist2(axes_handle ax, Args&&... args) {
return ax->hist2(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto bar(NotAxesHandle<T1> x, Args&&... args) {
return gca()->bar(x, std::forward<Args>(args)...);
}
template <class... Args> auto bar(axes_handle ax, Args&&... args) {
return ax->bar(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto barstacked(NotAxesHandle<T1> x, Args&&... args) {
return gca()->barstacked(x, std::forward<Args>(args)...);
}
template <class... Args> auto barstacked(axes_handle ax, Args&&... args) {
return ax->barstacked(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto heatmap(NotAxesHandle<T1> x, Args&&... args) {
return gca()->heatmap(x, std::forward<Args>(args)...);
}
template <class... Args> auto heatmap(axes_handle ax, Args&&... args) {
return ax->heatmap(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto pcolor(NotAxesHandle<T1> x, Args&&... args) {
return gca()->pcolor(x, std::forward<Args>(args)...);
}
template <class... Args> auto pcolor(axes_handle ax, Args&&... args) {
return ax->pcolor(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto parallelplot(NotAxesHandle<T1> x, Args&&... args) {
return gca()->parallelplot(x, std::forward<Args>(args)...);
}
template <class... Args> auto parallelplot(axes_handle ax, Args&&... args) {
return ax->parallelplot(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto pie(NotAxesHandle<T1> x, Args&&... args) {
return gca()->pie(x, std::forward<Args>(args)...);
}
template <class... Args> auto pie(axes_handle ax, Args&&... args) {
return ax->pie(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto plotmatrix(NotFigureHandle<T1> x, Args&&... args) {
return gcf()->plotmatrix(x, std::forward<Args>(args)...);
}
template <class... Args> auto plotmatrix(figure_handle f, Args&&... args) {
return f->plotmatrix(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto scatter(NotAxesHandle<T1> x, Args&&... args) {
return gca()->scatter(x, std::forward<Args>(args)...);
}
template <class... Args> auto scatter(axes_handle ax, Args&&... args) {
return ax->scatter(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto scatter3(NotAxesHandle<T1> x, Args&&... args) {
return gca()->scatter3(x, std::forward<Args>(args)...);
}
template <class... Args> auto scatter3(axes_handle ax, Args&&... args) {
return ax->scatter3(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto wordcloud(NotAxesHandle<T1> x, Args&&... args) {
return gca()->wordcloud(x, std::forward<Args>(args)...);
}
template <class... Args> auto wordcloud(axes_handle ax, Args&&... args) {
return ax->wordcloud(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto pareto(NotAxesHandle<T1> x, Args&&... args) {
return gca()->pareto(x, std::forward<Args>(args)...);
}
template <class... Args> auto pareto(axes_handle ax, Args&&... args) {
return ax->pareto(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto stem(NotAxesHandle<T1> x, Args&&... args) {
return gca()->stem(x, std::forward<Args>(args)...);
}
template <class... Args> auto stem(axes_handle ax, Args&&... args) {
return ax->stem(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto stem3(NotAxesHandle<T1> x, Args&&... args) {
return gca()->stem3(x, std::forward<Args>(args)...);
}
template <class... Args> auto stem3(axes_handle ax, Args&&... args) {
return ax->stem3(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto geobubble(NotAxesHandle<T1> x, Args&&... args) {
return gca()->geobubble(x, std::forward<Args>(args)...);
}
template <class... Args> auto geobubble(axes_handle ax, Args&&... args) {
return ax->geobubble(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto geodensityplot(NotAxesHandle<T1> x, Args&&... args) {
return gca()->geodensityplot(x, std::forward<Args>(args)...);
}
template <class... Args> auto geodensityplot(axes_handle ax, Args&&... args) {
return ax->geodensityplot(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto geoplot(NotAxesHandle<T1> x, Args&&... args) {
return gca()->geoplot(x, std::forward<Args>(args)...);
}
template <class... Args> auto geoplot(axes_handle ax, Args&&... args) {
return ax->geoplot(std::forward<Args>(args)...);
}
inline auto geoplot() { return gca()->geoplot(); }
template <class T1, class... Args>
void geolimits(NotAxesHandle<T1> x, Args&&... args) {
gca()->geolimits(x, std::forward<Args>(args)...);
}
template <class... Args> void geolimits(axes_handle ax, Args&&... args) {
ax->geolimits(std::forward<Args>(args)...);
}
inline void geolimits(const std::array<double, 2> &latitude,
const std::array<double, 2> &longitude) {
gca()->geolimits(latitude, longitude);
}
inline void geolimits(axes_handle ax, const std::array<double, 2> &latitude,
const std::array<double, 2> &longitude) {
ax->geolimits(latitude, longitude);
}
template <class T1, class... Args>
auto geoscatter(NotAxesHandle<T1> x, Args&&... args) {
return gca()->geoscatter(x, std::forward<Args>(args)...);
}
template <class... Args> auto geoscatter(axes_handle ax, Args&&... args) {
return ax->geoscatter(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto compass(NotAxesHandle<T1> x, Args&&... args) {
return gca()->compass(x, std::forward<Args>(args)...);
}
template <class... Args> auto compass(axes_handle ax, Args&&... args) {
return ax->compass(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto ezpolar(NotAxesHandle<T1> x, Args&&... args) {
return gca()->ezpolar(x, std::forward<Args>(args)...);
}
template <class... Args> auto ezpolar(axes_handle ax, Args&&... args) {
return ax->ezpolar(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto polarhistogram(NotAxesHandle<T1> x, Args&&... args) {
return gca()->polarhistogram(x, std::forward<Args>(args)...);
}
template <class... Args> auto polarhistogram(axes_handle ax, Args&&... args) {
return ax->polarhistogram(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto polarplot(NotAxesHandle<T1> x, Args&&... args) {
return gca()->polarplot(x, std::forward<Args>(args)...);
}
template <class... Args> auto polarplot(axes_handle ax, Args&&... args) {
return ax->polarplot(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto polarscatter(NotAxesHandle<T1> x, Args&&... args) {
return gca()->polarscatter(x, std::forward<Args>(args)...);
}
template <class... Args> auto polarscatter(axes_handle ax, Args&&... args) {
return ax->polarscatter(std::forward<Args>(args)...);
}
template <class... Args> auto contour(axes_handle ax, Args&&... args) {
return ax->contour(std::forward<Args>(args)...);
}
template <class T1, class T2, class T3>
auto contour(axes_handle ax, T1 v1, T2 v2, T3 v3,
const std::vector<double> &il) {
return ax->contour(v1, v2, v3, il);
}
template <class T1, class... Args>
auto contour(NotAxesHandle<T1> x, Args&&... args) {
return contour(gca(), x, std::forward<Args>(args)...);
}
template <class... Args> auto contourf(axes_handle ax, Args&&... args) {
return ax->contourf(std::forward<Args>(args)...);
}
template <class T1, class T2, class T3>
auto contourf(axes_handle ax, T1 v1, T2 v2, T3 v3,
const std::vector<double> &il) {
return ax->contourf(v1, v2, v3, il);
}
template <class T1, class T2, class T3>
auto contourf(T1 v1, T2 v2, T3 v3, const std::vector<double> &il) {
return gca()->contourf(v1, v2, v3, il);
}
template <class T1, class... Args>
auto contourf(NotAxesHandle<T1> x, Args&&... args) {
return contourf(gca(), x, std::forward<Args>(args)...);
}
template <class... Args> auto fcontour(axes_handle ax, Args&&... args) {
return ax->fcontour(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto fcontour(NotAxesHandle<T1> x, Args&&... args) {
return gca()->fcontour(x, std::forward<Args>(args)...);
}
inline contours_handle fcontour(axes_type::fcontour_function_type fn,
const std::array<double, 4> &xy_range,
std::vector<double> levels,
std::string_view line_spec = "") {
return gca()->fcontour(fn, xy_range, levels, line_spec);
}
inline contours_handle fcontour(axes_type::fcontour_function_type fn,
std::string_view line_spec) {
return gca()->fcontour(fn, line_spec);
}
inline contours_handle fcontour(axes_handle ax,
axes_type::fcontour_function_type fn,
const std::array<double, 4> &xy_range,
std::vector<double> levels,
std::string_view line_spec = "") {
return ax->fcontour(fn, xy_range, levels, line_spec);
}
inline contours_handle fcontour(axes_handle ax,
axes_type::fcontour_function_type fn,
std::string_view line_spec) {
return ax->fcontour(fn, line_spec);
}
template <class T1, class... Args>
auto feather(NotAxesHandle<T1> x, Args&&... args) {
return gca()->feather(x, std::forward<Args>(args)...);
}
template <class... Args> auto feather(axes_handle ax, Args&&... args) {
return ax->feather(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto quiver(NotAxesHandle<T1> x, Args&&... args) {
return gca()->quiver(x, std::forward<Args>(args)...);
}
template <class... Args> auto quiver(axes_handle ax, Args&&... args) {
return ax->quiver(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto quiver3(NotAxesHandle<T1> x, Args&&... args) {
return gca()->quiver3(x, std::forward<Args>(args)...);
}
template <class... Args> auto quiver3(axes_handle ax, Args&&... args) {
return ax->quiver3(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto fence(NotAxesHandle<T1> x, Args&&... args) {
return gca()->fence(x, std::forward<Args>(args)...);
}
template <class... Args> auto fence(axes_handle ax, Args&&... args) {
return ax->fence(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto fmesh(NotAxesHandle<T1> x, Args&&... args) {
return gca()->fmesh(x, std::forward<Args>(args)...);
}
template <class... Args> auto fmesh(axes_handle ax, Args&&... args) {
return ax->fmesh(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto fsurf(NotAxesHandle<T1> x, Args&&... args) {
return gca()->fsurf(x, std::forward<Args>(args)...);
}
template <class... Args> auto fsurf(axes_handle ax, Args&&... args) {
return ax->fsurf(std::forward<Args>(args)...);
}
inline surface_handle fsurf(axes_type::fcontour_function_type fn,
const std::array<double, 2> &x_range,
const std::array<double, 2> &y_range,
std::string_view line_spec = "",
double mesh_density = 40) {
return gca()->fsurf(fn, x_range, y_range, line_spec, mesh_density);
}
inline surface_handle fsurf(axes_type::fcontour_function_type funx,
axes_type::fcontour_function_type funy,
axes_type::fcontour_function_type funz,
const std::array<double, 2> &u_range,
const std::array<double, 2> &v_range,
std::string_view line_spec = "",
double mesh_density = 40) {
return gca()->fsurf(funx, funy, funz, u_range, v_range, line_spec,
mesh_density);
}
/// Function surf
/// Grid / Both ranges in the same array size 4
inline surface_handle fsurf(axes_type::fcontour_function_type fn,
const std::array<double, 4> &xy_range,
std::string_view line_spec = "",
double mesh_density = 40) {
return gca()->fsurf(fn, xy_range, line_spec, mesh_density);
}
/// Function surf
/// Grid / Both ranges in the same array size 4
inline surface_handle fsurf(axes_type::fcontour_function_type fn,
std::initializer_list<double> xy_range,
std::string_view line_spec = "",
double mesh_density = 40) {
return gca()->fsurf(fn, xy_range, line_spec, mesh_density);
}
/// Parametric / Both ranges in the same array size 4
inline surface_handle fsurf(axes_type::fcontour_function_type funx,
axes_type::fcontour_function_type funy,
axes_type::fcontour_function_type funz,
const std::array<double, 4> &uv_range,
std::string_view line_spec = "",
double mesh_density = 40) {
return gca()->fsurf(funx, funy, funz, uv_range, line_spec,
mesh_density);
}
/// Function surf
/// Grid / Both ranges in the same array size 2
inline surface_handle
fsurf(axes_type::fcontour_function_type fn,
const std::array<double, 2> &xy_range = {-5, +5},
std::string_view line_spec = "", double mesh_density = 40) {
return gca()->fsurf(fn, xy_range, line_spec, mesh_density);
}
/// Function surf
/// Parametric / Both ranges in the same array size 2
inline surface_handle
fsurf(axes_type::fcontour_function_type funx,
axes_type::fcontour_function_type funy,
axes_type::fcontour_function_type funz,
const std::array<double, 2> &uv_range = {-5, +5},
std::string_view line_spec = "", double mesh_density = 40) {
return gca()->fsurf(funx, funy, funz, uv_range, line_spec,
mesh_density);
}
inline surface_handle fsurf(axes_type::fcontour_function_type funx,
axes_type::fcontour_function_type funy,
axes_type::fcontour_function_type funz,
std::initializer_list<double> &uv_range,
std::string_view line_spec = "",
double mesh_density = 40) {
return gca()->fsurf(funx, funy, funz, uv_range, line_spec,
mesh_density);
}
/// Function surf - Core function
inline surface_handle fsurf(axes_handle ax,
axes_type::fcontour_function_type fn,
const std::array<double, 2> &x_range,
const std::array<double, 2> &y_range,
std::string_view line_spec = "",
double mesh_density = 40) {
return ax->fsurf(fn, x_range, y_range, line_spec, mesh_density);
}
/// Function surf - Parametric
/// Core parametric function
inline surface_handle fsurf(axes_handle ax,
axes_type::fcontour_function_type funx,
axes_type::fcontour_function_type funy,
axes_type::fcontour_function_type funz,
const std::array<double, 2> &u_range,
const std::array<double, 2> &v_range,
std::string_view line_spec = "",
double mesh_density = 40) {
return ax->fsurf(funx, funy, funz, u_range, v_range, line_spec,
mesh_density);
}
/// Function surf
/// Grid / Both ranges in the same array size 4
inline surface_handle fsurf(axes_handle ax,
axes_type::fcontour_function_type fn,
const std::array<double, 4> &xy_range,
std::string_view line_spec = "",
double mesh_density = 40) {
return ax->fsurf(fn, xy_range, line_spec, mesh_density);
}
/// Parametric / Both ranges in the same array size 4
inline surface_handle fsurf(axes_handle ax,
axes_type::fcontour_function_type funx,
axes_type::fcontour_function_type funy,
axes_type::fcontour_function_type funz,
const std::array<double, 4> &uv_range,
std::string_view line_spec = "",
double mesh_density = 40) {
return ax->fsurf(funx, funy, funz, uv_range, line_spec, mesh_density);
}
/// Function surf
/// Grid / Both ranges in the same array size 2
inline surface_handle
fsurf(axes_handle ax, axes_type::fcontour_function_type fn,
const std::array<double, 2> &xy_range = {-5, +5},
std::string_view line_spec = "", double mesh_density = 40) {
return ax->fsurf(fn, xy_range, line_spec, mesh_density);
}
/// Function surf
/// Parametric / Both ranges in the same array size 2
inline surface_handle
fsurf(axes_handle ax, axes_type::fcontour_function_type funx,
axes_type::fcontour_function_type funy,
axes_type::fcontour_function_type funz,
const std::array<double, 2> &uv_range = {-5, +5},
std::string_view line_spec = "", double mesh_density = 40) {
return ax->fsurf(funx, funy, funz, uv_range, line_spec, mesh_density);
}
inline surface_handle fsurf(axes_handle ax,
axes_type::fcontour_function_type funx,
axes_type::fcontour_function_type funy,
axes_type::fcontour_function_type funz,
std::initializer_list<double> &uv_range,
std::string_view line_spec = "",
double mesh_density = 40) {
return ax->fsurf(funx, funy, funz, uv_range, line_spec, mesh_density);
}
template <class T1, class... Args>
auto mesh(NotAxesHandle<T1> x, Args&&... args) {
return gca()->mesh(x, std::forward<Args>(args)...);
}
template <class... Args> auto mesh(axes_handle ax, Args&&... args) {
return ax->mesh(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto meshc(NotAxesHandle<T1> x, Args&&... args) {
return gca()->meshc(x, std::forward<Args>(args)...);
}
template <class... Args> auto meshc(axes_handle ax, Args&&... args) {
return ax->meshc(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto meshz(NotAxesHandle<T1> x, Args&&... args) {
return gca()->meshz(x, std::forward<Args>(args)...);
}
template <class... Args> auto meshz(axes_handle ax, Args&&... args) {
return ax->meshz(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto ribbon(NotAxesHandle<T1> x, Args&&... args) {
return gca()->ribbon(x, std::forward<Args>(args)...);
}
template <class... Args> auto ribbon(axes_handle ax, Args&&... args) {
return ax->ribbon(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto surf(NotAxesHandle<T1> x, Args&&... args) {
return gca()->surf(x, std::forward<Args>(args)...);
}
template <class... Args> auto surf(axes_handle ax, Args&&... args) {
return ax->surf(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto surfc(NotAxesHandle<T1> x, Args&&... args) {
return gca()->surfc(x, std::forward<Args>(args)...);
}
template <class... Args> auto surfc(axes_handle ax, Args&&... args) {
return ax->surfc(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto waterfall(NotAxesHandle<T1> x, Args&&... args) {
return gca()->waterfall(x, std::forward<Args>(args)...);
}
template <class... Args> auto waterfall(axes_handle ax, Args&&... args) {
return ax->waterfall(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto graph(NotAxesHandle<T1> x, Args&&... args) {
return gca()->graph(x, std::forward<Args>(args)...);
}
template <class... Args> auto graph(axes_handle ax, Args&&... args) {
return ax->graph(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto imshow(NotAxesHandle<T1> x, Args&&... args) {
return gca()->imshow(x, std::forward<Args>(args)...);
}
template <class... Args> auto imshow(axes_handle ax, Args&&... args) {
return ax->imshow(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto image(NotAxesHandle<T1> x, Args&&... args) {
return gca()->image(x, std::forward<Args>(args)...);
}
template <class... Args> auto image(axes_handle ax, Args&&... args) {
return ax->image(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto text(NotAxesHandle<T1> x, Args&&... args) {
return gca()->text(x, std::forward<Args>(args)...);
}
template <class... Args> auto text(axes_handle ax, Args&&... args) {
return ax->text(std::forward<Args>(args)...);
}
inline labels_handle text(const std::vector<double> &x,
const std::vector<double> &y,
const std::vector<std::string> &texts) {
return gca()->text(x, y, texts);
}
inline labels_handle text(const std::vector<double> &x,
const std::vector<double> &y,
std::string_view str) {
return gca()->text(x, y, str);
}
inline labels_handle text(axes_handle ax, const std::vector<double> &x,
const std::vector<double> &y,
const std::vector<std::string> &texts) {
return ax->text(x, y, texts);
}
inline labels_handle text(axes_handle ax, const std::vector<double> &x,
const std::vector<double> &y,
std::string_view str) {
return ax->text(x, y, str);
}
template <class T1, class... Args>
auto arrow(NotAxesHandle<T1> x, Args&&... args) {
return gca()->arrow(x, std::forward<Args>(args)...);
}
template <class... Args> auto arrow(axes_handle ax, Args&&... args) {
return ax->arrow(std::forward<Args>(args)...);
}
inline auto line(double x1, double y1, double x2, double y2) {
return gca()->line(x1, y1, x2, y2);
}
inline auto line(axes_handle ax, double x1, double y1, double x2,
double y2) {
return ax->line(x1, y1, x2, y2);
}
template <class T1, class... Args>
auto textarrow(NotAxesHandle<T1> x, Args&&... args) {
return gca()->textarrow(x, std::forward<Args>(args)...);
}
template <class... Args> auto textarrow(axes_handle ax, Args&&... args) {
return ax->textarrow(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto rectangle(NotAxesHandle<T1> x, Args&&... args) {
return gca()->rectangle(x, std::forward<Args>(args)...);
}
template <class... Args> auto rectangle(axes_handle ax, Args&&... args) {
return ax->rectangle(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto textbox(NotAxesHandle<T1> x, Args&&... args) {
return gca()->textbox(x, std::forward<Args>(args)...);
}
template <class... Args> auto textbox(axes_handle ax, Args&&... args) {
return ax->textbox(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto fill(NotAxesHandle<T1> x, Args&&... args) {
return gca()->fill(x, std::forward<Args>(args)...);
}
template <class... Args> auto fill(axes_handle ax, Args&&... args) {
return ax->fill(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto polygon(NotAxesHandle<T1> x, Args&&... args) {
return gca()->polygon(x, std::forward<Args>(args)...);
}
template <class... Args> auto polygon(axes_handle ax, Args&&... args) {
return ax->polygon(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto ellipse(NotAxesHandle<T1> x, Args&&... args) {
return gca()->ellipse(x, std::forward<Args>(args)...);
}
template <class... Args> auto ellipse(axes_handle ax, Args&&... args) {
return ax->ellipse(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto digraph(NotAxesHandle<T1> x, Args&&... args) {
return gca()->digraph(x, std::forward<Args>(args)...);
}
template <class... Args> auto digraph(axes_handle ax, Args&&... args) {
return ax->digraph(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto imagesc(NotAxesHandle<T1> x, Args&&... args) {
return gca()->imagesc(x, std::forward<Args>(args)...);
}
template <class... Args> auto imagesc(axes_handle ax, Args&&... args) {
return ax->imagesc(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto boxplot(NotAxesHandle<T1> x, Args&&... args) {
return gca()->boxplot(x, std::forward<Args>(args)...);
}
template <class... Args> auto boxplot(axes_handle ax, Args&&... args) {
return ax->boxplot(std::forward<Args>(args)...);
}
template <class T1, class... Args>
auto boxchart(NotAxesHandle<T1> x, Args&&... args) {
return gca()->boxchart(x, std::forward<Args>(args)...);
}
template <class... Args> auto boxchart(axes_handle ax, Args&&... args) {
return ax->boxchart(std::forward<Args>(args)...);
}
inline void show() { return gcf()->show(); }
inline void show(figure_handle f) { f->show(); }
inline bool save(const std::string &filename) {
return gcf()->save(filename);
}
inline bool save(figure_handle f, const std::string &filename,
const std::string &format) {
return f->save(filename, format);
}
inline bool save(const std::string &filename, const std::string &format) {
return gcf()->save(filename, format);
}
inline bool save(figure_handle f, const std::string &filename) {
return f->save(filename);
}
} // namespace matplot
#endif // MATPLOTPLUSPLUS_PLOT_H

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//
// Created by Alan Freitas on 2020-07-03.
//
#ifndef MATPLOTPLUSPLUS_MATPLOT_H
#define MATPLOTPLUSPLUS_MATPLOT_H
// Common / util
#include <matplot/util/common.h>
#include <matplot/util/concepts.h>
#include <matplot/util/geodata.h>
#include <matplot/util/handle_types.h>
#include <matplot/util/type_traits.h>
// Backends
#include <matplot/backend/backend_interface.h>
#include <matplot/backend/backend_registry.h>
#include <matplot/backend/gnuplot.h>
// #include <matplot/backend/opengl_3.h> // Don't include opengl by default
// Figure and axes
#include <matplot/core/axes_type.h>
#include <matplot/core/axis_type.h>
#include <matplot/core/figure_type.h>
// Axes objects
#include <matplot/axes_objects/bars.h>
#include <matplot/axes_objects/box_chart.h>
#include <matplot/axes_objects/circles.h>
#include <matplot/axes_objects/contours.h>
#include <matplot/axes_objects/error_bar.h>
#include <matplot/axes_objects/filled_area.h>
#include <matplot/axes_objects/function_line.h>
#include <matplot/axes_objects/histogram.h>
#include <matplot/axes_objects/labels.h>
#include <matplot/axes_objects/line.h>
#include <matplot/axes_objects/matrix.h>
#include <matplot/axes_objects/network.h>
#include <matplot/axes_objects/parallel_lines.h>
#include <matplot/axes_objects/stair.h>
#include <matplot/axes_objects/string_function.h>
#include <matplot/axes_objects/surface.h>
#include <matplot/axes_objects/vectors.h>
// Free-standing functions
#include <matplot/freestanding/axes_functions.h>
#include <matplot/freestanding/axes_lim.h>
#include <matplot/freestanding/histcounts.h>
#include <matplot/freestanding/plot.h>
#endif // MATPLOTPLUSPLUS_MATPLOT_H

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//
// Created by Alan Freitas on 2020-07-04.
//
#ifndef MATPLOTPLUSPLUS_COLORS_H
#define MATPLOTPLUSPLUS_COLORS_H
#include <matplot/detail/config.h>
#include <array>
#include <string>
#include <vector>
namespace matplot {
enum class color {
blue,
black,
red,
green,
yellow,
cyan,
magenta,
white,
none,
};
MATPLOT_EXPORTS
std::string to_string(matplot::color c);
MATPLOT_EXPORTS
matplot::color string_to_color(std::string_view s);
MATPLOT_EXPORTS
matplot::color char_to_color(char c);
MATPLOT_EXPORTS
bool is_valid_color_char(char c);
MATPLOT_EXPORTS
std::array<float, 4> to_array(matplot::color c);
template <class T> std::array<float, 4> to_array(std::vector<T> c) {
std::array<float, 4> r{0.f, 0.f, 0.f, 0.f};
if (c.size() == 1) {
r[0] = 0.f;
r[1] = static_cast<float>(c[0]);
r[2] = static_cast<float>(c[0]);
r[3] = static_cast<float>(c[0]);
} else if (c.size() == 3) {
r[0] = 0.f;
r[1] = static_cast<float>(c[0]);
r[2] = static_cast<float>(c[1]);
r[3] = static_cast<float>(c[2]);
} else if (c.size() == 4) {
r[0] = static_cast<float>(c[0]);
r[1] = static_cast<float>(c[1]);
r[2] = static_cast<float>(c[2]);
r[3] = static_cast<float>(c[3]);
}
return r;
}
MATPLOT_EXPORTS
std::array<float, 4> to_array(std::string_view str_color);
MATPLOT_EXPORTS
std::string to_string(const std::array<float, 4> &c);
MATPLOT_EXPORTS
std::string to_string(const std::array<float, 3> &c);
constexpr std::array<float, 4> default_color(size_t index) {
constexpr size_t num_default_colors = 7;
size_t color_index = index % num_default_colors;
switch (color_index) {
case 0:
return {0, 0, 0.447f, 0.741f};
case 1:
return {0, 0.85f, 0.325f, 0.098f};
case 2:
return {0, 0.929f, 0.694f, 0.125f};
case 3:
return {0, 0.494f, 0.184f, 0.556f};
case 4:
return {0, 0.466f, 0.674f, 0.188f};
case 5:
return {0, 0.301f, 0.745f, 0.933f};
case 6:
return {0, 0.635f, 0.078f, 0.184f};
default:
return {};
}
}
namespace palette {
/*
* \see
* - https://doi.org/10.1179%2Fcaj.1996.33.2.79
* - https://bids.github.io/colormap/
* - https://dx.doi.org/10.1371/journal.pone.0199239
* - https://dx.doi.org/10.5670/oceanog.2016.66
* - https://dx.doi.org/10.1071/aseg2015ab107
* - https://zenodo.org/record/4153113
*/
MATPLOT_EXPORTS
std::vector<std::vector<double>> accent(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> blues(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> brbg(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> bugn(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> bupu(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> chromajs(size_t n = 9);
MATPLOT_EXPORTS
std::vector<std::vector<double>> dark2(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> gnbu(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> gnpu(size_t n = 10);
MATPLOT_EXPORTS
std::vector<std::vector<double>> greens(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> greys(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> inferno(size_t n = 256);
MATPLOT_EXPORTS
std::vector<std::vector<double>> jet(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> turbo(size_t n = 256);
MATPLOT_EXPORTS
std::vector<std::vector<double>> magma(size_t n = 256);
MATPLOT_EXPORTS
std::vector<std::vector<double>> oranges(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> orrd(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> paired(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> parula(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> pastel1(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> pastel2(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> piyg(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> plasma(size_t n = 256);
MATPLOT_EXPORTS
std::vector<std::vector<double>> prgn(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> pubu(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> pubugn(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> puor(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> purd(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> purples(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> rdbu(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> rdgy(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> rdpu(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> rdylbu(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> rdylgn(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> reds(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> sand(size_t n = 10);
MATPLOT_EXPORTS
std::vector<std::vector<double>> set1(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> set2(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> set3(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> spectral(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> viridis(size_t n = 256);
MATPLOT_EXPORTS
std::vector<std::vector<double>> whylrd(size_t n = 5);
MATPLOT_EXPORTS
std::vector<std::vector<double>> ylgn(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> ylgnbu(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> ylorbr(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> ylorrd(size_t n = 8);
MATPLOT_EXPORTS
std::vector<std::vector<double>> ylrd(size_t n = 4);
MATPLOT_EXPORTS
std::vector<std::vector<double>> hsv(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> hot(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> cool(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> spring(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> summer(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> autumn(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> winter(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> gray(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> bone(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> copper(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> pink(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> lines(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> colorcube(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> prism(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> flag(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> white(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> default_map(size_t n = 64);
MATPLOT_EXPORTS
std::vector<std::vector<double>> default_colors_map(size_t n = 7);
} // namespace palette
MATPLOT_EXPORTS
std::array<float, 4>
colormap_interpolation(double value, double min, double max,
const std::vector<std::vector<double>> &cm);
} // namespace matplot
#endif // MATPLOTPLUSPLUS_COLORS_H

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//
// Created by Alan Freitas on 2020-07-03.
//
#ifndef MATPLOTPLUSPLUS_COMMON_H
#define MATPLOTPLUSPLUS_COMMON_H
#include <matplot/detail/config.h>
#include <algorithm>
#include <cctype>
#include <complex>
#include <functional>
#include <map>
#include <matplot/util/concepts.h>
#include <numeric>
#include <sstream>
#include <string>
#include <string_view>
#include <vector>
namespace matplot {
MATPLOT_EXPORTS
bool iequals(std::string_view str1, std::string_view str2);
MATPLOT_EXPORTS
bool is_true(std::string_view str);
MATPLOT_EXPORTS
bool is_false(std::string_view str);
MATPLOT_EXPORTS
std::string run_and_get_output(const std::string &command);
MATPLOT_EXPORTS
std::string escape(std::string_view label);
inline void ltrim(std::string &s) {
s.erase(s.begin(), std::find_if(s.begin(), s.end(), [](int ch) {
return !std::isspace(ch);
}));
}
inline void rtrim(std::string &s) {
s.erase(std::find_if(s.rbegin(), s.rend(),
[](int ch) { return !std::isspace(ch); })
.base(),
s.end());
}
inline void rtrim(std::string &s, char d) {
s.erase(
std::find_if(s.rbegin(), s.rend(), [d](int ch) { return ch != d; })
.base(),
s.end());
}
template <class T> std::string num2str(Arithmetic<T> num) {
std::ostringstream ss;
ss.precision(10);
ss << std::fixed;
ss << num;
return ss.str();
}
template <class T>
std::string num2str(Arithmetic<T> num, const std::string &format) {
constexpr int max_buffer_size = 100;
char buffer[max_buffer_size];
int cx = snprintf(buffer, max_buffer_size, format.c_str(), num);
if (cx >= 0 && cx < max_buffer_size) {
return std::string(buffer);
} else {
return num2str(num);
}
}
template <class T = double> T str2num(std::string_view text) {
std::istringstream ss((std::string(text)));
T result;
return ss >> result ? result : 0;
}
using vector_1d = std::vector<double>;
using vector_2d = std::vector<vector_1d>;
MATPLOT_EXPORTS
std::vector<double> linspace(double lower_bound, double upper_bound);
MATPLOT_EXPORTS
std::vector<double> linspace(double lower_bound, double upper_bound,
size_t n);
MATPLOT_EXPORTS
std::vector<double> logspace(double lower_bound, double upper_bound);
MATPLOT_EXPORTS
std::vector<double> logspace(double lower_bound, double upper_bound,
size_t n);
MATPLOT_EXPORTS
std::vector<double> iota(double lower_bound, double upper_bound);
MATPLOT_EXPORTS
std::vector<double> iota(double lower_bound, double step,
double upper_bound);
MATPLOT_EXPORTS
vector_1d transform(const vector_1d &x, std::function<double(double)> fn);
MATPLOT_EXPORTS
vector_1d transform(const vector_1d &x, const vector_1d &y,
std::function<double(double, double)> fn);
MATPLOT_EXPORTS
vector_2d transform(const vector_2d &x, std::function<double(double)> fn);
MATPLOT_EXPORTS
vector_2d transform(const vector_2d &x, const vector_2d &y,
std::function<double(double, double)> fn);
MATPLOT_EXPORTS
vector_1d flatten(const vector_2d &x);
MATPLOT_EXPORTS
std::vector<double> unique(const std::vector<double> &x);
MATPLOT_EXPORTS
double min(const std::vector<double> &x);
MATPLOT_EXPORTS
double min(const std::vector<std::vector<double>> &x);
MATPLOT_EXPORTS
double max(const std::vector<double> &x);
MATPLOT_EXPORTS
double max(const std::vector<std::vector<double>> &x);
MATPLOT_EXPORTS
std::pair<double, double> minmax(const std::vector<double> &x);
template <typename T> T min(T val1, T val2) {
return val1 < val2 ? val1 : val2;
}
template <typename T, typename... Ts> T min(T val1, T val2, Ts &&...vs) {
return val1 < val2 ? min(val1, std::forward<Ts>(vs)...)
: min(val2, std::forward<Ts>(vs)...);
}
template <typename T> T max(T val1, T val2) {
return val1 > val2 ? val1 : val2;
}
template <typename T, typename... Ts> T max(T val1, T val2, Ts &&...vs) {
return val1 > val2 ? max(val1, std::forward<Ts>(vs)...)
: max(val2, std::forward<Ts>(vs)...);
}
MATPLOT_EXPORTS
double mean(const std::vector<double> &x);
MATPLOT_EXPORTS
double stddev(const std::vector<double> &x);
MATPLOT_EXPORTS
void wait();
constexpr double pi =
3.141592653589793238462643383279502884197169399375105820974944592307816406286;
constexpr double NaN = std::numeric_limits<double>::quiet_NaN();
template <class T> std::vector<T> vectorize(const std::vector<T> &result) {
return result;
}
template <class T> std::vector<T> vectorize(const T &result) {
return std::vector<T>({result});
}
template <size_t N, class T>
inline std::array<T, N> to_array(std::initializer_list<T> il) {
std::array<T, N> r{};
auto r_it = r.begin();
auto il_it = il.begin();
while (r_it != r.end() && il_it != il.end()) {
*r_it = *il_it;
++r_it;
++il_it;
}
return r;
}
template <size_t N, class T>
inline std::array<T, N> to_array(const std::vector<T> &v) {
std::array<T, N> r{};
auto r_it = r.begin();
auto v_it = v.begin();
while (r_it != r.end() && v_it != v.end()) {
*r_it = *v_it;
++r_it;
++v_it;
}
return r;
}
namespace detail {
template <typename T, typename U>
using forward_or_copy =
std::conditional_t<std::is_same_v<T, U>, const U &, U>;
}
template <class T>
detail::forward_or_copy<T, vector_1d> to_vector_1d(const T &v) {
if constexpr (std::is_same_v<T, vector_1d>) {
return v;
} else {
using std::begin, std::end;
vector_1d r(v.size());
std::transform(v.begin(), v.end(), r.begin(), [](const auto &x) {
return static_cast<double>(x);
});
return r;
}
}
template <class T>
detail::forward_or_copy<T, vector_2d> to_vector_2d(const T &v) {
if constexpr (std::is_same_v<T, vector_2d>) {
return v;
} else {
using std::begin, std::end;
vector_2d r(std::distance(begin(v), end(v)));
std::transform(
begin(v), end(v), r.begin(),
[](auto &&e) -> vector_1d { return to_vector_1d(e); });
return r;
}
}
template <class T>
detail::forward_or_copy<T, std::vector<vector_2d>>
to_vector_3d(const T &v) {
if constexpr (std::is_same_v<T, std::vector<vector_2d>>) {
return v;
} else {
using std::begin, std::end;
std::vector<vector_2d> r(std::distance(begin(v), end(v)));
std::transform(
begin(v), end(v), r.begin(),
[](auto &&e) -> vector_2d { return to_vector_2d(e); });
return r;
}
}
template <class T> inline T norm(const std::vector<T> &v) {
T sum = 0.;
for (const auto &vk : v) {
sum += pow(vk, 2.);
}
return sqrt(sum);
}
MATPLOT_EXPORTS
double randn(double mean, double stddev);
MATPLOT_EXPORTS
std::vector<double> randn(size_t n, double mean, double stddev);
/// Exponential distribution
MATPLOT_EXPORTS
double rande(double lambda, double multiplier = 1.0);
MATPLOT_EXPORTS
std::vector<double> rande(size_t n, double lambda, double multiplier = 1.0);
/// Pareto distribution
MATPLOT_EXPORTS
double randp(double scale, double shape = 1.0);
MATPLOT_EXPORTS
std::vector<double> randp(size_t n, double scale, double shape = 1.0);
MATPLOT_EXPORTS
int randi(int imin, int imax);
MATPLOT_EXPORTS
std::vector<int> randi(size_t n, int imin, int imax);
MATPLOT_EXPORTS
double rand(double lower_bound, double upper_bound);
MATPLOT_EXPORTS
vector_1d rand(size_t n, double lower_bound, double upper_bound);
MATPLOT_EXPORTS
vector_2d rand(size_t rows, size_t cols, double lower_bound,
double upper_bound);
MATPLOT_EXPORTS
std::vector<double> reshape(const std::vector<std::vector<double>> &X);
MATPLOT_EXPORTS
std::vector<double> concat(const std::vector<double> &a,
const std::vector<double> &b);
template <class... Args>
std::vector<double> concat(const std::vector<double> &a,
const std::vector<double> &b, Args &&...args) {
std::vector<double> r = concat(a, b);
return concat(r, std::forward<Args>(args)...);
}
MATPLOT_EXPORTS
double truncate(double x, double lower_bound, double upper_bound);
template <class Arg1, class TUPLE>
void reorder_parameter_pack_in_tuple(TUPLE &t, Arg1 x) {
std::get<Arg1>(t) = x;
}
template <class Arg1, class... Args, class TUPLE>
void reorder_parameter_pack_in_tuple(TUPLE &t, Arg1 x, Args &&...args) {
std::get<Arg1>(t) = x;
reorder_parameter_pack_in_tuple(t, std::forward<Args>(args)...);
}
MATPLOT_EXPORTS
std::string fileread(const std::string &filename);
template <class T, class T2 = T, class FN = std::less<T>>
void rank_elements(T first, T last, T2 rank_input,
FN comp = std::less<T>()) {
using value_and_rank =
std::pair<std::remove_reference_t<decltype(*first)> const *,
size_t>;
std::vector<value_and_rank> v;
size_t r = 0;
while (first != last) {
v.emplace_back(&(*first), r);
++first;
++r;
}
std::sort(v.begin(), v.end(), [comp](const auto &a, const auto &b) {
return comp(*a.first, *b.first);
});
for (const auto &[ptr, ranking] : v) {
(void)ptr;
*rank_input = ranking;
++rank_input;
}
}
/// Cosine of argument in degreescollapse
MATPLOT_EXPORTS
double cosd(double degrees);
/// Sine of argument in degreescollapse
MATPLOT_EXPORTS
double sind(double degrees);
/// Sine of argument in degreescollapse
MATPLOT_EXPORTS
std::vector<double> deg2rad(const std::vector<double> &degrees);
MATPLOT_EXPORTS
double deg2rad(double rho);
/// Round up the maximum polar value
MATPLOT_EXPORTS
double round_polar_max(double polar_max);
MATPLOT_EXPORTS
double to_positive_radian(double radian);
/// Calculate the radians rho of a vector (u,v)
MATPLOT_EXPORTS
double vector_radians(double u, double v);
/// Calculate the magnitude theta of a vector (u,v)
MATPLOT_EXPORTS
double vector_magnitude(double u, double v);
/// Calculate the radians rho of a complex number u + iv
MATPLOT_EXPORTS
double vector_radians(std::complex<double> v);
/// Calculate the magnitude theta of a complex number u + iv
MATPLOT_EXPORTS
double vector_magnitude(std::complex<double> v);
/// Calculate cartesian coordinates of vector in polar coordinates
MATPLOT_EXPORTS
std::pair<double, double> pol2cart(double theta, double rho);
MATPLOT_EXPORTS
std::pair<vector_1d, vector_1d> pol2cart(vector_1d theta, vector_1d rho);
MATPLOT_EXPORTS
std::pair<vector_1d, vector_1d> pol2cart(vector_1d theta, double rho);
MATPLOT_EXPORTS
std::pair<double, double> elliptic2cart(double theta, double rho_w,
double rho_h);
MATPLOT_EXPORTS
std::pair<vector_1d, vector_1d> elliptic2cart(vector_1d theta, double rho_w,
double rho_h);
MATPLOT_EXPORTS
std::pair<vector_1d, vector_1d>
elliptic2cart(vector_1d theta, vector_1d rho_w, vector_1d rho_h);
MATPLOT_EXPORTS
std::pair<vector_2d, vector_2d> meshgrid(const vector_1d &x,
const vector_1d &y);
MATPLOT_EXPORTS
std::pair<vector_2d, vector_2d> meshgrid(const vector_1d &x_and_y);
MATPLOT_EXPORTS
vector_1d gradient(const vector_1d &z, double spacing = 1.0);
MATPLOT_EXPORTS
std::pair<vector_2d, vector_2d> gradient(const vector_2d &z,
double spacing = 1.0);
MATPLOT_EXPORTS
std::pair<vector_2d, vector_2d>
gradient(const vector_2d &z, double spacing_x, double spacing_y);
MATPLOT_EXPORTS
double peaks(double x, double y);
MATPLOT_EXPORTS
vector_2d peaks(const vector_2d &X, const vector_2d &Y);
MATPLOT_EXPORTS
std::tuple<vector_2d, vector_2d, vector_2d> peaks(size_t N = 49);
template <class T1, class T2> struct pair_hash {
std::size_t operator()(const std::pair<T1, T2> &p) const {
std::size_t h1 = std::hash<T1>()(p.first);
std::size_t h2 = std::hash<T2>()(p.second);
return h1 ^ h2;
}
};
template <class T> std::pair<size_t, size_t> size(const std::vector<T> &v) {
if (v.empty()) {
return std::make_pair(0, 0);
} else {
return std::make_pair(v.size(), v[0].size());
}
}
MATPLOT_EXPORTS
vector_2d zeros(size_t rows, size_t cols);
MATPLOT_EXPORTS
vector_2d ones(size_t rows, size_t cols);
using image_row_t = std::vector<unsigned char>;
using image_channel_t = std::vector<image_row_t>;
// The image might have 1 channel (B&W), 3 channels (RGB), or 4 channels
// (RGBA)
using image_channels_t = std::vector<image_channel_t>;
/// Core imread function
/// Return grayscale image (vector::size() == 1),
/// rgb image (vector::size() == 3),
/// rgba image (vector::size() == 4),
/// empty image (vector::size() == 0)
MATPLOT_EXPORTS
image_channels_t imread(const std::string &filename);
enum class image_interpolation {
raw,
additional_space,
nearest,
moving_average,
bilinear,
grid,
bicubic,
lanczos
};
MATPLOT_EXPORTS
image_channel_t rgb2gray(const image_channels_t &A);
MATPLOT_EXPORTS
image_channels_t gray2rgb(const image_channel_t &A,
const std::vector<std::vector<double>> &colormap);
MATPLOT_EXPORTS
image_channels_t gray2rgb(const image_channel_t &A);
MATPLOT_EXPORTS
image_channels_t gray2rgb(const image_channels_t &A,
const std::vector<std::vector<double>> &colormap);
MATPLOT_EXPORTS
image_channels_t gray2rgb(const image_channels_t &A);
MATPLOT_EXPORTS
image_channels_t
imresize(const image_channels_t &A, double scale,
image_interpolation m = image_interpolation::bicubic);
MATPLOT_EXPORTS
image_channels_t
imresize(const image_channels_t &A, size_t height, size_t width,
image_interpolation m = image_interpolation::bicubic);
MATPLOT_EXPORTS
void imwrite(const image_channels_t &A, const std::string &filename);
MATPLOT_EXPORTS
void imwrite(const image_channel_t &A,
const std::vector<std::vector<double>> &colormap,
const std::string &filename);
MATPLOT_EXPORTS
void imwrite(const image_channels_t &A, const std::string &filename);
MATPLOT_EXPORTS
image_channels_t imvignette(const image_channels_t &A,
double min_radius = 1., double exponent = 0.5);
template <class T = double> std::vector<std::vector<T>> eye(size_t n) {
std::vector<std::vector<T>> r(n, std::vector<T>(n, static_cast<T>(0)));
for (size_t i = 0; i < n; ++i) {
r[i][i] = 1.;
}
return r;
}
MATPLOT_EXPORTS
vector_2d transpose(const vector_2d &z);
MATPLOT_EXPORTS
std::vector<std::string>
tokenize(std::string_view text,
std::string_view delimiters = " ',\n\r\t\".!?:");
MATPLOT_EXPORTS
std::pair<std::vector<std::string>, std::vector<size_t>>
wordcount(const std::vector<std::string> &tokens,
const std::vector<std::string> &black_list,
size_t max_cloud_size = 100);
MATPLOT_EXPORTS
std::pair<std::vector<std::string>, std::vector<size_t>>
wordcount(std::string_view text, const std::vector<std::string> &black_list,
std::string_view delimiters = " ',\n\r\t\".!?:;",
size_t max_cloud_size = 100);
// Distance from x to the next larger floating point number
template <class FLOAT>
std::enable_if_t<std::is_same_v<FLOAT, float> ||
std::is_same_v<FLOAT, double> ||
std::is_same_v<FLOAT, long double>,
FLOAT>
eps(FLOAT x = 1.) {
constexpr long double max_long_double =
std::numeric_limits<long double>::max();
// std::nexttoward is more precise than std::nextafter
if constexpr (std::is_same_v<FLOAT, double>) {
return std::nexttoward(x, max_long_double) - x;
} else if constexpr (std::is_same_v<FLOAT, float>) {
return std::nexttowardf(x, max_long_double) - x;
} else if constexpr (std::is_same_v<FLOAT, long double>) {
return std::nexttowardl(x, max_long_double) - x;
} else {
throw std::logic_error(
"eps: FLOAT type needs to be float, double or long double");
}
}
template <class T>
std::vector<T> repmat(const std::vector<T> &a, size_t n) {
std::vector<T> b(a.size() * n);
for (size_t i = 0; i < n; ++i) {
for (size_t j = 0; j < a.size(); ++j) {
b[i * a.size() + j] = a[j];
}
}
return b;
}
struct ticks_results {
std::vector<double> ticks;
std::vector<std::string> tickLabels;
std::string scaleStr;
std::vector<double> minorTicks;
std::vector<double> overhang;
};
/// \brief Find ticks at "nice" intervals for an axis
/// For now, we only use our own ticks when we need to take control
/// over the gnuplot ticks. Sometimes the gnuplot ticks does not
/// give us the behaviour we expect. For instance, this is the case
/// when plotting parallel coordinates.
/// We could easily adapt class axis to always use this function
/// instead of the automatic gnuplot ticks but there's no need
/// for that at the moment.
/// The algorithm in this function is inspired by this matplot script:
/// https://www.mathworks.com/matlabcentral/fileexchange/30671-calcticks
/// We don't implement the version for log scale because, by coincidence,
/// the library does not need it at this point.
/// \param limits_min Minimum value
/// \param limits_max Maximum value
/// \param horizontal True if axis is horizontal (this changes the room for
/// labels) \param text_size Size in height or width of a char \param log
/// True if scale is logarithmic (this will throw an error for now) \return
/// Nice ticks and their labels in a ticks_results struct \see
/// https://www.mathworks.com/matlabcentral/fileexchange/30671-calcticks
MATPLOT_EXPORTS
ticks_results calcticks(double limits_min = -5, double limits_max = +5,
bool horizontal = false, double text_size = 1.25,
bool separateExp = true, bool log = false);
MATPLOT_EXPORTS
double distance(double x1, double y1, double x2, double y2);
/// \brief Simple read-only 2d view for vector_2d.
/// It could iterates over all vector's elements and get value using
/// only one index (offset).
class MATPLOT_EXPORTS vector_2d_view {
using vector_2d = matplot::vector_2d;
const vector_2d &_vec;
const std::size_t _sz;
/// \brief Helper method for determining the whole array size.
/// Required for caching inner vector's size.
std::size_t calculate_size(const vector_2d &vec) {
return std::accumulate(vec.begin(), vec.end(), (std::size_t)(0),
[](auto cnt, const auto &inner_vec) {
return cnt + inner_vec.size();
});
}
public:
static const double &get_element_from_offset(const vector_2d &vec,
std::size_t offset) {
std::size_t row_size = vec[0].size();
std::size_t cur_row = offset / row_size;
std::size_t cur_column = offset % row_size;
return vec[cur_row][cur_column];
}
static vector_2d_view from_vector_2d(const vector_2d &vec) {
return vector_2d_view(vec);
}
std::size_t size() const { return _sz; }
vector_2d_view(const vector_2d &vec)
: _vec(vec), _sz(calculate_size(vec)) {}
double operator()(std::size_t i, std::size_t j) {
return _vec.at(i).at(j);
}
friend class iterator;
class iterator {
vector_2d_view *const _vec;
std::size_t _row_offset;
std::size_t _col_offset;
static bool is_empty_iterator(const iterator &it) {
return it._vec == nullptr;
}
static bool is_end_iterator(const iterator &it) {
return is_empty_iterator(it) ||
it._row_offset * it._col_offset >= it._vec->size();
}
public:
iterator(vector_2d_view *const vec)
: _vec(vec), _row_offset(0), _col_offset(0) {}
bool operator==(const iterator &it) const {
return is_end_iterator(it)
? is_end_iterator(*this)
: it._vec == _vec && it._row_offset == _row_offset &&
it._col_offset == _col_offset;
}
auto operator*() const { return (*_vec)(_row_offset, _col_offset); }
iterator &operator++() {
_col_offset++;
if (_col_offset >= _vec->_vec.at(_row_offset).size()) {
_col_offset = 0;
_row_offset++;
}
return *this;
}
// iterator traits
using value_type = double;
};
iterator begin() { return iterator{this}; }
iterator end() { return iterator{nullptr}; }
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_COMMON_H

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//
// Created by Alan Freitas on 2020-07-03.
//
#ifndef MATPLOTPLUSPLUS_CONCEPTS_H
#define MATPLOTPLUSPLUS_CONCEPTS_H
#include <matplot/util/handle_types.h>
#include <matplot/util/type_traits.h>
#include <string>
namespace matplot {
// https://github.com/Neargye/yacppl/blob/master/include/concepts.hpp
// Fallback to type T if Enable is not void
template <typename T, typename Enable = void> using type_concept = T;
// type_concept where Enable is void if C is false
template <typename T, bool C>
using TypeConcept = type_concept<T, typename std::enable_if_t<C>>;
// TypeConcept where C is true only if T is RValue
template <typename T>
using RValue = TypeConcept<
T, std::is_rvalue_reference<T>::value &&
!std::is_const<typename std::remove_reference<T>::type>::value>
&&;
// TypeConcept where C is true only if T is Const
template <typename T>
using Const = TypeConcept<
T, std::is_const<typename std::remove_reference<T>::type>::value>;
// TypeConcept where C is true only if T is NotConst
template <typename T>
using NotConst = TypeConcept<
T, !std::is_const<typename std::remove_reference<T>::type>::value>;
// TypeConcept where C is true only if T is Arithmetic
template <typename T>
using Arithmetic = TypeConcept<
T, std::is_arithmetic<typename std::remove_reference<T>::type>::value>;
// TypeConcept where C is true only if T is Integral
template <typename T>
using Integral = TypeConcept<
T, std::is_integral<typename std::remove_reference<T>::type>::value>;
// TypeConcept where C is true only if T is Pointer
template <typename T>
using Pointer = TypeConcept<
T, std::is_pointer<typename std::remove_reference<T>::type>::value>;
// TypeConcept where C is true only if T is Trivial
template <typename T>
using Trivial = TypeConcept<
T, std::is_trivial<typename std::remove_reference<T>::type>::value>;
// TypeConcept where C is true only if T is TriviallyCopyable
template <typename T>
using TriviallyCopyable =
TypeConcept<T, std::is_trivially_copyable<
typename std::remove_reference<T>::type>::value>;
// TypeConcept where C is true only if T is String
template <typename T>
using String = TypeConcept<T, std::is_same_v<std::decay_t<T>, std::string>>;
// TypeConcept where C is true only if T is NotString
template <typename T>
using NotString =
TypeConcept<T, !std::is_same_v<std::decay_t<T>, std::string>>;
// TypeConcept where C is true only if T is NotString
template <typename T>
using NotStringConvertible =
TypeConcept<T, !std::is_convertible_v<std::decay_t<T>, std::string>>;
class figure_type;
// TypeConcept where C is true only if T is FigureHandle
template <typename T>
using FigureHandle = TypeConcept<
T, std::is_same_v<std::decay_t<T>, std::shared_ptr<class figure_type>>>;
// TypeConcept where C is true only if T is NotFigureHandle
template <typename T>
using NotFigureHandle =
TypeConcept<T, !std::is_same_v<std::decay_t<T>,
std::shared_ptr<class figure_type>>>;
// TypeConcept where C is true only if T is Iterable
template <typename T>
using Iterable = TypeConcept<T, is_iterable_v<std::decay_t<T>>>;
// TypeConcept where C is true only if T is IterableValues
template <typename T>
using IterableValues = TypeConcept<T, is_iterable_value_v<std::decay_t<T>>>;
// TypeConcept where C is true only if T is IterablePair
template <typename T>
using IterablePairs = TypeConcept<T, is_iterable_pair_v<std::decay_t<T>>>;
// TypeConcept where C is true only if T is IterableIterables
template <typename T>
using IterableIterables =
TypeConcept<T, is_iterable_iterable_v<std::decay_t<T>>>;
// TypeConcept where C is true only if T is IterableValues
template <typename T>
using NotAxesHandle =
TypeConcept<T, !std::is_same_v<std::decay_t<T>, axes_handle>>;
// TypeConcept where C is true only if T is an initializer list
template <typename T>
using InitializerList = TypeConcept<T, is_initializer_list<T>::value>;
// TypeConcept where C is true only if T is not an initializer list
template <typename T>
using NotInitializerList = TypeConcept<T, !is_initializer_list<T>::value>;
// TypeConcept where C is true only if T is a vector
template <typename T> using Vector = TypeConcept<T, is_vector<T>::value>;
// TypeConcept where C is true only if T is not a vector
template <typename T> using NotVector = TypeConcept<T, is_vector<T>::value>;
// TypeConcept where C is true only if T is a pair
template <typename T> using Pair = TypeConcept<T, is_pair<T>::value>;
// TypeConcept where C is true only if T is not a pair
template <typename T> using NotPair = TypeConcept<T, is_pair<T>::value>;
} // namespace matplot
#endif // MATPLOTPLUSPLUS_CONCEPTS_H

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//
// Adapted from
// https://github.com/matplotlib/matplotlib/blob/master/src/_contour.h
// and
// https://github.com/matplotlib/matplotlib/blob/master/lib/matplotlib/contour.py
//
#ifndef MATPLOTPLUSPLUS_CONTOURC_H
#define MATPLOTPLUSPLUS_CONTOURC_H
/*
* QuadContourGenerator
* --------------------
* A QuadContourGenerator generates contours for scalar fields defined on
* quadrilateral grids. A single QuadContourGenerator object can create both
* line contours (at single levels) and filled contours (between pairs of
* levels) for the same field.
*
* A field to be contoured has nx, ny points in the x- and y-directions
* respectively. The quad grid is defined by x and y arrays of shape(ny, nx),
* and the field itself is the z array also of shape(ny, nx). There is an
* optional boolean mask; if it exists then it also has shape(ny, nx). The
* mask applies to grid points rather than quads.
*
* How quads are masked based on the point mask is determined by the boolean
* 'corner_mask' flag. If false then any quad that has one or more of its four
* corner points masked is itself masked. If true the behaviour is the same
* except that any quad which has exactly one of its four corner points masked
* has only the triangular corner (half of the quad) adjacent to that point
* masked; the opposite triangular corner has three unmasked points and is not
* masked.
*
* By default the entire domain of nx*ny points is contoured together which can
* result in some very long polygons. The alternative is to break up the
* domain into subdomains or 'chunks' of smaller size, each of which is
* independently contoured. The size of these chunks is controlled by the
* 'nchunk' (or 'chunk_size') parameter. Chunking not only results in shorter
* polygons but also requires slightly less RAM. It can result in rendering
* artifacts though, depending on backend, antialiased flag and alpha value.
*
* Notation
* --------
* i and j are array indices in the x- and y-directions respectively. Although
* a single element of an array z can be accessed using z[j][i] or z(j,i), it
* is often convenient to use the single quad index z[quad], where
* quad = i + j*nx
* and hence
* i = quad % nx
* j = quad / nx
*
* Rather than referring to x- and y-directions, compass directions are used
* instead such that W, E, S, N refer to the -x, +x, -y, +y directions
* respectively. To move one quad to the E you would therefore add 1 to the
* quad index, to move one quad to the N you would add nx to the quad index.
*
* Cache
* -----
* Lots of information that is reused during contouring is stored as single
* bits in a mesh-sized cache, indexed by quad. Each quad's cache entry stores
* information about the quad itself such as if it is masked, and about the
* point at the SW corner of the quad, and about the W and S edges. Hence
* information about each point and each edge is only stored once in the cache.
*
* Cache information is divided into two types: that which is constant over the
* lifetime of the QuadContourGenerator, and that which changes for each
* contouring operation. The former is all grid-specific information such
* as quad and corner masks, and which edges are boundaries, either between
* masked and non-masked regions or between adjacent chunks. The latter
* includes whether points lie above or below the current contour levels, plus
* some flags to indicate how the contouring is progressing.
*
* Line Contours
* -------------
* A line contour connects points with the same z-value. Each point of such a
* contour occurs on an edge of the grid, at a point linearly interpolated to
* the contour z-level from the z-values at the end points of the edge. The
* direction of a line contour is such that higher values are to the left of
* the contour, so any edge that the contour passes through will have a left-
* hand end point with z > contour level and a right-hand end point with
* z <= contour level.
*
* Line contours are of two types. Firstly there are open line strips that
* start on a boundary, traverse the interior of the domain and end on a
* boundary. Secondly there are closed line loops that occur completely within
* the interior of the domain and do not touch a boundary.
*
* The QuadContourGenerator makes two sweeps through the grid to generate line
* contours for a particular level. In the first sweep it looks only for start
* points that occur on boundaries, and when it finds one it follows the
* contour through the interior until it finishes on another boundary edge.
* Each quad that is visited by the algorithm has a 'visited' flag set in the
* cache to indicate that the quad does not need to be visited again. In the
* second sweep all non-visited quads are checked to see if they contain part
* of an interior closed loop, and again each time one is found it is followed
* through the domain interior until it returns back to its start quad and is
* therefore completed.
*
* The situation is complicated by saddle quads that have two opposite corners
* with z >= contour level and the other two corners with z < contour level.
* These therefore contain two segments of a line contour, and the visited
* flags take account of this by only being set on the second visit. On the
* first visit a number of saddle flags are set in the cache to indicate which
* one of the two segments has been completed so far.
*
* Filled Contours
* ---------------
* Filled contours are produced between two contour levels and are always
* closed polygons. They can occur completely within the interior of the
* domain without touching a boundary, following either the lower or upper
* contour levels. Those on the lower level are exactly like interior line
* contours with higher values on the left. Those on the upper level are
* reversed such that higher values are on the right.
*
* Filled contours can also involve a boundary in which case they consist of
* one or more sections along a boundary and one or more sections through the
* interior. Interior sections can be on either level, and again those on the
* upper level have higher values on the right. Boundary sections can remain
* on either contour level or switch between the two.
*
* Once the start of a filled contour is found, the algorithm is similar to
* that for line contours in that it follows the contour to its end, which
* because filled contours are always closed polygons will be by returning
* back to the start. However, because two levels must be considered, each
* level has its own set of saddle and visited flags and indeed some extra
* visited flags for boundary edges.
*
* The major complication for filled contours is that some polygons can be
* holes (with points ordered clockwise) within other polygons (with points
* ordered anticlockwise). When it comes to rendering filled contours each
* non-hole polygon must be rendered along with its zero or more contained
* holes or the rendering will not be correct. The filled contour finding
* algorithm could progress pretty much as the line contour algorithm does,
* taking each polygon as it is found, but then at the end there would have to
* be an extra step to identify the parent non-hole polygon for each hole.
* This is not a particularly onerous task but it does not scale well and can
* easily dominate the execution time of the contour finding for even modest
* problems. It is much better to identity each hole's parent non-hole during
* the sweep algorithm.
*
* This requirement dictates the order that filled contours are identified. As
* the algorithm sweeps up through the grid, every time a polygon passes
* through a quad a ParentCache object is updated with the new possible parent.
* When a new hole polygon is started, the ParentCache is used to find the
* first possible parent in the same quad or to the S of it. Great care is
* needed each time a new quad is checked to see if a new polygon should be
* started, as a single quad can have multiple polygon starts, e.g. a quad
* could be a saddle quad for both lower and upper contour levels, meaning it
* has four contour line segments passing through it which could all be from
* different polygons. The S-most polygon must be started first, then the next
* S-most and so on until the N-most polygon is started in that quad.
*/
// #include "numpy_cpp.h"
// https://github.com/matplotlib/matplotlib/blob/master/src/numpy_cpp.h
#include <matplot/detail/config.h>
#include <matplot/core/axes_type.h>
#include <matplot/util/common.h>
#include <matplot/util/handle_types.h>
#include <array>
#include <cmath>
#include <iostream>
#include <list>
#include <numeric>
#include <stdint.h>
#include <vector>
namespace matplot {
// Edge of a quad including diagonal edges of masked quads if _corner_mask
// true.
enum class Edge {
// Listing values here so easier to check for debug purposes.
Edge_None = -1,
Edge_E = 0,
Edge_N = 1,
Edge_W = 2,
Edge_S = 3,
// The following are only used if _corner_mask is true.
Edge_NE = 4,
Edge_NW = 5,
Edge_SW = 6,
Edge_SE = 7
};
// Combination of a quad and an edge of that quad.
// An invalid quad edge has quad of -1.
struct MATPLOT_EXPORTS QuadEdge {
QuadEdge();
QuadEdge(long quad_, Edge edge_);
bool operator<(const QuadEdge &other) const;
bool operator==(const QuadEdge &other) const;
bool operator!=(const QuadEdge &other) const;
friend std::ostream &operator<<(std::ostream &os,
const QuadEdge &quad_edge);
long quad;
Edge edge;
};
// 2D point with x,y coordinates.
struct MATPLOT_EXPORTS XY {
XY();
XY(const double &x_, const double &y_);
bool operator==(const XY &other) const;
bool operator!=(const XY &other) const;
XY operator*(const double &multiplier) const;
const XY &operator+=(const XY &other);
const XY &operator-=(const XY &other);
XY operator+(const XY &other) const;
XY operator-(const XY &other) const;
friend std::ostream &operator<<(std::ostream &os, const XY &xy);
double x, y;
};
// A single line of a contour, which may be a closed line loop or an open
// line strip. Identical adjacent points are avoided using push_back(). A
// ContourLine is either a hole (points ordered clockwise) or it is not
// (points ordered anticlockwise). Each hole has a parent ContourLine that
// is not a hole; each non-hole contains zero or more child holes. A
// non-hole and its child holes must be rendered together to obtain the
// correct results.
class MATPLOT_EXPORTS ContourLine : public std::vector<XY> {
public:
typedef std::list<ContourLine *> Children;
ContourLine(bool is_hole);
void add_child(ContourLine *child);
void clear_parent();
const Children &get_children() const;
const ContourLine *get_parent() const;
ContourLine *get_parent();
bool is_hole() const;
void push_back(const XY &point);
void set_parent(ContourLine *parent);
void write() const;
private:
bool _is_hole;
ContourLine *_parent; // Only set if is_hole, not owned.
Children _children; // Only set if !is_hole, not owned.
};
// A Contour is a collection of zero or more ContourLines.
class MATPLOT_EXPORTS Contour : public std::vector<ContourLine *> {
public:
Contour();
virtual ~Contour();
void delete_contour_lines();
void write() const;
};
// Single chunk of ContourLine parents, indexed by quad. As a chunk's
// filled contours are created, the ParentCache is updated each time a
// ContourLine passes through each quad. When a new ContourLine is created,
// if it is a hole its parent ContourLine is read from the ParentCache by
// looking at the start quad, then each quad to the S in turn until a
// non-zero ContourLine is found.
class MATPLOT_EXPORTS ParentCache {
public:
ParentCache() = default;
ParentCache(long nx, long x_chunk_points, long y_chunk_points);
ContourLine *get_parent(long quad);
void set_chunk_starts(long istart, long jstart);
void set_parent(long quad, ContourLine &contour_line);
private:
long quad_to_index(long quad) const;
long _nx;
long _x_chunk_points, _y_chunk_points; // Number of points not quads.
std::vector<ContourLine *> _lines; // Not owned.
long _istart, _jstart;
};
// See overview of algorithm at top of file.
class MATPLOT_EXPORTS QuadContourGenerator {
public:
// using CoordinateArray = numpy::array_view<const double, 2>;
using CoordinateArray = vector_2d;
// using MaskArray = numpy::array_view<const bool, 2>;
using MaskArray = std::array<const bool, 2>;
// This constructor is just a placeholder
// This object will obviously not work
QuadContourGenerator() = default;
// Constructor with optional mask.
// x, y, z: double arrays of shape (ny,nx).
// mask: boolean array, ether empty (if no mask), or of shape (ny,nx).
// corner_mask: flag for different masking behaviour.
// chunk_size: 0 for no chunking, or +ve integer for size of chunks
// that
// the domain is subdivided into.
// https://github.com/matplotlib/matplotlib/blob/master/lib/matplotlib/contour.py
QuadContourGenerator(const vector_2d &x, const vector_2d &y,
const vector_2d &z, bool corner_mask,
long chunk_size);
// Create and return polygons for a line (i.e. non-filled) contour at
// the specified level.
using vertices_list_type = std::pair<vector_1d, vector_1d>;
vertices_list_type create_contour(const double &level);
// Create and return polygons for a filled contour between the two
// specified levels.
using codes_list_type = std::vector<unsigned char>;
std::pair<vertices_list_type, codes_list_type>
create_filled_contour(const double &lower_level,
const double &upper_level);
private:
// Typedef for following either a boundary of the domain or the
// interior; clearer than using a boolean.
enum class BoundaryOrInterior { Boundary, Interior };
// Typedef for direction of movement from one quad to the next.
enum class Dir { Dir_Right = -1, Dir_Straight = 0, Dir_Left = +1 };
// Typedef for a polygon being a hole or not; clearer than using a
// boolean.
enum class HoleOrNot { NotHole, Hole };
// Append a C++ ContourLine to the end of a python list. Used for line
// contours where each ContourLine is converted to a separate numpy
// array of (x,y) points. Clears the ContourLine too.
void append_contour_line_to_vertices(
ContourLine &contour_line, vertices_list_type &vertices_list) const;
// Append a C++ Contour to the end of two python lists. Used for filled
// contours where each non-hole ContourLine and its child holes are
// represented by a numpy array of (x,y) points and a second numpy array
// of 'kinds' or 'codes' that indicates where the points array is split
// into individual polygons. Clears the Contour too, freeing each
// ContourLine as soon as possible for minimum RAM usage.
void
append_contour_to_vertices_and_codes(Contour &contour,
vertices_list_type &vertices_list,
codes_list_type &codes_list) const;
// Return number of chunks that fit in the specified point_count.
long calc_chunk_count(long point_count) const;
// Return the point on the specified QuadEdge that intersects the
// specified level.
XY edge_interp(const QuadEdge &quad_edge, const double &level);
// Follow a contour along a boundary, appending points to the
// ContourLine as it progresses. Only called for filled contours. Stops
// when the contour leaves the boundary to move into the interior of the
// domain, or when the start_quad_edge is reached in which case the
// ContourLine is a completed closed loop. Always adds the end point of
// each boundary edge to the ContourLine, regardless of whether moving
// to another boundary edge or leaving the boundary into the interior.
// Never adds the start point of the first boundary edge to the
// ContourLine.
// contour_line: ContourLine to append points to.
// quad_edge: on entry the QuadEdge to start from, on exit the
// QuadEdge
// that is stopped on.
// lower_level: lower contour z-value.
// upper_level: upper contour z-value.
// level_index: level index started on (1 = lower, 2 = upper level).
// start_quad_edge: QuadEdge that the ContourLine started from, which
// is
// used to check if the ContourLine is finished.
// Returns the end level_index.
unsigned int follow_boundary(ContourLine &contour_line,
QuadEdge &quad_edge,
const double &lower_level,
const double &upper_level,
unsigned int level_index,
const QuadEdge &start_quad_edge);
// Follow a contour across the interior of the domain, appending points
// to the ContourLine as it progresses. Called for both line and filled
// contours. Stops when the contour reaches a boundary or, if the
// start_quad_edge is specified, when quad_edge == start_quad_edge and
// level_index == start_level_index. Always adds the end point of each
// quad traversed to the ContourLine; only adds the start point of the
// first quad if want_initial_point flag is true.
// contour_line: ContourLine to append points to.
// quad_edge: on entry the QuadEdge to start from, on exit the
// QuadEdge
// that is stopped on.
// level_index: level index started on (1 = lower, 2 = upper level).
// level: contour z-value.
// want_initial_point: whether want to append the initial point to the
// ContourLine or not.
// start_quad_edge: the QuadEdge that the ContourLine started from to
// check if the ContourLine is finished, or 0 if no check should
// occur.
// start_level_index: the level_index that the ContourLine started
// from. set_parents: whether should set ParentCache as it progresses
// or not.
// This is true for filled contours, false for line contours.
void follow_interior(ContourLine &contour_line, QuadEdge &quad_edge,
unsigned int level_index, const double &level,
bool want_initial_point,
const QuadEdge *start_quad_edge,
unsigned int start_level_index, bool set_parents);
// Return the index limits of a particular chunk.
void get_chunk_limits(long ijchunk, long &ichunk, long &jchunk,
long &istart, long &iend, long &jstart,
long &jend);
// Check if a contour starts within the specified corner quad on the
// specified level_index, and if so return the start edge. Otherwise
// return Edge_None.
Edge get_corner_start_edge(long quad, unsigned int level_index) const;
// Return index of point at start or end of specified QuadEdge, assuming
// anticlockwise ordering around non-masked quads.
long get_edge_point_index(const QuadEdge &quad_edge, bool start) const;
// Return the edge to exit a quad from, given the specified entry
// quad_edge and direction to move in.
Edge get_exit_edge(const QuadEdge &quad_edge, Dir dir) const;
// Return the (x,y) coordinates of the specified point index.
XY get_point_xy(long point) const;
// Return the z-value of the specified point index.
const double &get_point_z(long point) const;
// Check if a contour starts within the specified non-corner quad on the
// specified level_index, and if so return the start edge. Otherwise
// return Edge_None.
Edge get_quad_start_edge(long quad, unsigned int level_index) const;
// Check if a contour starts within the specified quad, whether it is a
// corner or a full quad, and if so return the start edge. Otherwise
// return Edge_None.
Edge get_start_edge(long quad, unsigned int level_index) const;
// Initialise the cache to contain grid information that is constant
// across the lifetime of this object, i.e. does not vary between calls
// to create_contour() and create_filled_contour().
void init_cache_grid();
// Initialise the cache with information that is specific to contouring
// the specified two levels. The levels are the same for contour lines,
// different for filled contours.
void init_cache_levels(const double &lower_level,
const double &upper_level);
// Return the (x,y) point at which the level intersects the line
// connecting the two specified point indices.
XY interp(long point1, long point2, const double &level) const;
// Return true if the specified QuadEdge is a boundary, i.e. is either
// an edge between a masked and non-masked quad/corner or is a chunk
// boundary.
bool is_edge_a_boundary(const QuadEdge &quad_edge) const;
// Follow a boundary from one QuadEdge to the next in an anticlockwise
// manner around the non-masked region.
void move_to_next_boundary_edge(QuadEdge &quad_edge) const;
// Move from the quad specified by quad_edge.quad to the neighbouring
// quad by crossing the edge specified by quad_edge.edge.
void move_to_next_quad(QuadEdge &quad_edge) const;
// Check for filled contours starting within the specified quad and
// complete any that are found, appending them to the specified Contour.
void single_quad_filled(Contour &contour, long quad,
const double &lower_level,
const double &upper_level);
// Start and complete a filled contour line.
// quad: index of quad to start ContourLine in.
// edge: edge of quad to start ContourLine from.
// start_level_index: the level_index that the ContourLine starts
// from. hole_or_not: whether the ContourLine is a hole or not.
// boundary_or_interior: whether the ContourLine starts on a boundary
// or
// the interior.
// lower_level: lower contour z-value.
// upper_level: upper contour z-value.
// Returns newly created ContourLine.
ContourLine *start_filled(long quad, Edge edge,
unsigned int start_level_index,
HoleOrNot hole_or_not,
BoundaryOrInterior boundary_or_interior,
const double &lower_level,
const double &upper_level);
// Start and complete a line contour that both starts and end on a
// boundary, traversing the interior of the domain.
// vertices_list: Python list that the ContourLine should be appended
// to. quad: index of quad to start ContourLine in. edge: boundary
// edge to start ContourLine from. level: contour z-value.
// Returns true if the start quad does not need to be visited again,
// i.e. VISITED(quad,1).
bool start_line(vertices_list_type &vertices_list, long quad, Edge edge,
const double &level);
// Debug function that writes the cache status to stdout.
void write_cache(bool grid_only = false) const;
// Debug function that writes that cache status for a single quad to
// stdout.
void write_cache_quad(long quad, bool grid_only) const;
// Note that mask is not stored as once it has been used to initialise
// the cache it is no longer needed.
CoordinateArray _x, _y, _z;
long _nx, _ny; // Number of points in each direction.
long _n; // Total number of points (and hence quads).
bool _corner_mask;
long _chunk_size; // Number of quads per chunk (not points).
// Always > 0, unlike python nchunk which is 0
// for no chunking.
long _nxchunk, _nychunk; // Number of chunks in each direction.
long _chunk_count; // Total number of chunks.
typedef uint32_t CacheItem;
std::vector<CacheItem> _cache;
ParentCache _parent_cache; // On W quad sides.
};
/// Segments are considered as including their end-points; i.e if the
// closest point on the path is a node in *xys* with index *i*,
// this
// returns ``(i-1, i)``. For the special case where *xys* is a
// single
// point, this returns ``(0, 0)``.
/// \param xys Coordinates of vertices
/// \param p Coordinates of point
/// \return Minimum square distance of *p* to *xys*.
/// \return Projection of *p* onto *xys*.
/// \return Consecutive indices of vertices of segment in *xys* where
/// *proj* is.
MATPLOT_EXPORTS
std::tuple<double, std::pair<double, double>, std::pair<size_t, size_t>>
find_closest_point_on_path(const std::vector<double> &xs,
const std::vector<double> &ys, double px,
double py);
/// \brief Compute contour lines
///
/// This will use a square tracing algorithm to find the contour points
/// of a contour line. We look for level transitions on every
/// grid quadrant and determine the specific point with an interpolation
/// that considers how far the the points in the quadrant are for the
/// contour level.
///
/// We compute these lines outside gnuplot because creating contour lines
/// in 2d plots (with the "plot" command) in gnuplot involves so many
/// work-arounds that it is just not worth it.
///
/// \see
/// https://en.wikipedia.org/wiki/Boundary_tracing#Square_tracing_algorithm
/// \see
/// http://www.batesville.k12.in.us/physics/CalcNet/grapher/how_it_works.htm
/// \see http://dx.doi.org/10.1093/comjnl/33.5.402
/// \see http://dx.doi.org/10.1016/0097-8493%2891%2990002-Y
/// \see http://ieeexplore.ieee.org/xpls/abs_all.jsp?arnumber=576861
/// \see https://github.com/matplotlib/matplotlib/blob/master/src/_contour.h
using contour_line_type = std::pair<vector_1d, vector_1d>;
MATPLOT_EXPORTS
contour_line_type contour_line(const vector_2d &x, const vector_2d &y,
const vector_2d &z, double level);
MATPLOT_EXPORTS
std::vector<contour_line_type> contourc(const vector_2d &x,
const vector_2d &y,
const vector_2d &z,
const vector_1d &levels);
MATPLOT_EXPORTS
std::vector<contour_line_type> contourc(const vector_2d &x,
const vector_2d &y,
const vector_2d &z,
size_t n_levels = 7);
MATPLOT_EXPORTS
std::vector<contour_line_type> contourc(const vector_2d &z,
const vector_1d &levels);
MATPLOT_EXPORTS
std::vector<contour_line_type> contourc(const vector_2d &z,
size_t n_levels = 7);
} // namespace matplot
#endif // MATPLOTPLUSPLUS_CONTOURC_H

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//
// Created by Alan Freitas on 20/07/20.
//
#ifndef MATPLOTPLUSPLUS_GEODATA_H
#define MATPLOTPLUSPLUS_GEODATA_H
#include <matplot/detail/config.h>
#include <string>
#include <vector>
namespace matplot {
MATPLOT_EXPORTS
std::pair<std::vector<double>, std::vector<double>> &world_map_10m();
MATPLOT_EXPORTS
std::pair<std::vector<double>, std::vector<double>> &world_map_50m();
MATPLOT_EXPORTS
std::pair<std::vector<double>, std::vector<double>> &world_map_110m();
MATPLOT_EXPORTS
std::tuple<std::vector<double>, std::vector<double>,
std::vector<std::string>> &
world_cities();
MATPLOT_EXPORTS
std::tuple<std::vector<double>, std::vector<double>,
std::vector<std::string>>
world_cities(double min_x_distance_per_char, double min_y_distance);
MATPLOT_EXPORTS
std::tuple<std::vector<double>, std::vector<double>>
greedy_tsp(const std::vector<double> &x, const std::vector<double> &y,
size_t starting_city = 0);
MATPLOT_EXPORTS
std::tuple<std::vector<double>, std::vector<double>, std::vector<size_t>>
greedy_tsp_with_idx(const std::vector<double> &x,
const std::vector<double> &y, size_t starting_city = 0);
MATPLOT_EXPORTS
std::tuple<std::vector<double>, std::vector<double>,
std::vector<std::string>>
clear_overlapping_labels(const std::vector<double> &x,
const std::vector<double> &y,
const std::vector<std::string> &names,
double min_x_distance_per_char,
double min_y_distance);
} // namespace matplot
#endif // MATPLOTPLUSPLUS_GEODATA_H

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//
// Created by Alan Freitas on 2020-07-06.
//
#ifndef MATPLOTPLUSPLUS_HANDLE_TYPES_H
#define MATPLOTPLUSPLUS_HANDLE_TYPES_H
#include <array>
#include <memory>
namespace matplot {
using color_array = std::array<float, 4>;
class figure_type;
using figure_handle = std::shared_ptr<class figure_type>;
class axes_type;
using axes_handle = std::shared_ptr<class axes_type>;
class axes_object;
using axes_object_handle = std::shared_ptr<class axes_object>;
class legend;
using legend_handle = std::shared_ptr<class legend>;
class string_function;
using string_function_handle = std::shared_ptr<class string_function>;
class line;
using line_handle = std::shared_ptr<class line>;
using scatter_handle = std::shared_ptr<class line>;
class stair;
using stair_handle = std::shared_ptr<class stair>;
class error_bar;
using error_bar_handle = std::shared_ptr<class error_bar>;
class filled_area;
using filled_area_handle = std::shared_ptr<class filled_area>;
class function_line;
using function_line_handle = std::shared_ptr<class function_line>;
class histogram;
using histogram_handle = std::shared_ptr<class histogram>;
class box_chart;
using box_chart_handle = std::shared_ptr<class box_chart>;
class parallel_lines;
using parallel_lines_handle = std::shared_ptr<class parallel_lines>;
class circles;
using circles_handle = std::shared_ptr<class circles>;
class labels;
using labels_handle = std::shared_ptr<class labels>;
class matrix;
using matrix_handle = std::shared_ptr<class matrix>;
class bars;
using bars_handle = std::shared_ptr<class bars>;
class vectors;
using vectors_handle = std::shared_ptr<class vectors>;
class contours;
using contours_handle = std::shared_ptr<class contours>;
class surface;
using surface_handle = std::shared_ptr<class surface>;
class network;
using network_handle = std::shared_ptr<class network>;
/// Bin scatter style
enum class bin_scatter_style {
automatic, // decide automatically depending on the data
point_size, // size proportional to values in the bin
point_alpha, // number of elements in bin represented by colormap where
// alpha varies with density
jitter, // create a number of points in the bin proportional to the bin
// value
point_colormap, // number of elements in bin represented by default
// colormap
heatmap // number of elements in each bin represented by a heatmap
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_HANDLE_TYPES_H

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//
// Created by Alan Freitas on 2020-07-06.
//
#ifndef MATPLOTPLUSPLUS_KEYWORDS_H
#define MATPLOTPLUSPLUS_KEYWORDS_H
#include <limits>
namespace matplot {
class keyword_automatic_type {};
constexpr keyword_automatic_type automatic;
class keyword_manual_type {};
constexpr keyword_manual_type manual;
class keyword_equal_type {};
constexpr keyword_equal_type equal;
class keyword_square_type {};
constexpr keyword_square_type square;
class keyword_tight_type {};
constexpr keyword_tight_type tight;
class keyword_ij_type {};
constexpr keyword_ij_type ij;
class keyword_minor_type {};
constexpr keyword_minor_type minor;
constexpr bool on = true;
constexpr bool off = false;
constexpr bool left = false;
constexpr bool right = true;
constexpr double inf = std::numeric_limits<double>::infinity();
} // namespace matplot
#endif // MATPLOTPLUSPLUS_KEYWORDS_H

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//
// Created by Alan Freitas on 2020-07-06.
//
#ifndef MATPLOTPLUSPLUS_POPEN_H
#define MATPLOTPLUSPLUS_POPEN_H
#include <string>
#include <string_view>
#include <cstdio> // FILE
#ifdef _WIN32
#include <windows.h> // HANDLE
/// State of a child process pipe
class proc_pipe
{
protected:
proc_pipe() = default;
HANDLE hProcess = 0; ///< WIN32 process handle
HANDLE hThread = 0; ///< WIN32 thread handle
FILE *file_ = nullptr; ///< C file handle for I/O (not both)
};
#elif defined(__linux) || defined(__APPLE__)
#include <unistd.h> // pid_t
/// State of a child process pipe
class proc_pipe
{
protected:
proc_pipe() = default;
pid_t pid = 0; ///< POSIX process identifier
FILE *file_ = nullptr; ///< C file handle for input or output (not both)
};
#else
#error "proc_pipe is not implemented for this platform"
#endif // platform specific code
/// Common operations for a child process pipe
class common_pipe : public proc_pipe
{
public:
FILE *file() const { return file_; }
int close(int *exit_code = nullptr);
bool opened() const { return file_ != nullptr; }
const std::string& error() const { return error_; }
bool exceptions() const { return exceptions_; }
void exceptions(bool exc) { exceptions_ = exc; }
protected:
common_pipe() = default;
common_pipe(const common_pipe&) = delete;
common_pipe& operator=(const common_pipe&) = delete;
common_pipe(common_pipe&&) noexcept = default;
common_pipe& operator=(common_pipe&&) noexcept = default;
~common_pipe() noexcept {
if (opened())
close();
}
bool exceptions_ = false;
std::string error_{};
int report(int err, const std::string& what);
int open(const std::string &command, char mode);
};
/// Pipe to read from process output
class ipipe : public common_pipe
{
public:
ipipe();
int open(const std::string &cmd) { return common_pipe::open(cmd, 'r'); }
int read(std::string &data);
};
/// Pipe to write into process input
class opipe : public common_pipe
{
public:
opipe();
int open(const std::string &cmd) { return common_pipe::open(cmd, 'w'); }
int write(std::string_view data);
int flush(std::string_view data = {});
};
/// Runs the shell command, writes data to its input and waits for completion, returns errno if failed
int shell_write(const std::string &command, std::string_view data = {});
/// Runs the shell command, reads data from its output and waits for completion, returns errno if failed
int shell_read(const std::string &command, std::string& data);
#endif // MATPLOTPLUSPLUS_POPEN_H

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//
// Created by Alan Freitas on 2020-07-05.
//
#ifndef MATPLOTPLUSPLUS_TYPE_TRAITS_H
#define MATPLOTPLUSPLUS_TYPE_TRAITS_H
#include <string>
#include <type_traits>
#include <vector>
namespace matplot {
template <typename C> struct is_iterable {
typedef long false_type;
typedef char true_type;
template <class T> static false_type check(...);
template <class T>
static true_type check(int, typename T::const_iterator = C().end());
enum { value = sizeof(check<C>(0)) == sizeof(true_type) };
};
template <typename C> constexpr bool is_iterable_v = is_iterable<C>::value;
template <typename C> struct has_value_type {
typedef long false_type;
typedef char true_type;
template <class T> static false_type check(...);
template <class T>
static true_type check(int, typename T::value_type = *C().begin());
enum { value = sizeof(check<C>(0)) == sizeof(true_type) };
};
template <typename C>
constexpr bool has_value_type_v = has_value_type<C>::value;
template <typename C> struct has_iterable_value_type {
typedef long false_type;
typedef char true_type;
template <class T> static false_type check(...);
template <class T>
static true_type
check(int,
typename T::value_type::value_type = *(C().begin()->begin()));
enum { value = sizeof(check<C>(0)) == sizeof(true_type) };
};
template <typename C>
constexpr bool has_iterable_value_type_v =
has_iterable_value_type<C>::value;
// Something like std::vector<double>
template <class C>
struct is_iterable_value
: public std::integral_constant<
bool, is_iterable_v<C> && !has_iterable_value_type_v<C>> {};
template <typename C>
constexpr bool is_iterable_value_v = is_iterable_value<C>::value;
// Something like std::vector<std::vector<double>>
template <class C>
struct is_iterable_iterable
: public std::integral_constant<
bool, is_iterable_v<C> && has_iterable_value_type_v<C>> {};
template <typename C>
constexpr bool is_iterable_iterable_v = is_iterable_iterable<C>::value;
template <class T>
using is_string =
std::integral_constant<bool,
std::is_same_v<std::decay_t<T>, std::string> &&
std::is_convertible_v<T, std::string>>;
template <typename C> constexpr bool is_string_v = is_string<C>::value;
template <typename> struct is_pair : std::false_type {};
template <typename T, typename U>
struct is_pair<std::pair<T, U>> : std::true_type {};
template <typename T> constexpr bool is_pair_v = is_pair<T>::value;
template <class C>
struct is_iterable_pair
: public std::integral_constant<
bool, is_iterable_v<C> && !has_iterable_value_type_v<C> &&
is_pair_v<typename C::value_type>> {};
template <typename C>
constexpr bool is_iterable_pair_v = is_iterable_pair<C>::value;
template <typename> struct is_vector : std::false_type {};
template <typename T, typename U>
struct is_vector<std::vector<T, U>> : std::true_type {};
template <typename> struct is_initializer_list : std::false_type {};
template <typename T>
struct is_initializer_list<std::initializer_list<T>> : std::true_type {};
template <typename T> struct first_type_if_pair { using type = T; };
template <typename T, typename U>
struct first_type_if_pair<std::pair<T, U>> {
using type = T;
};
// also tried this, but it didn't help
template <typename T, typename U>
struct first_type_if_pair<std::pair<const T, U>> {
using type = T;
};
template <typename T> struct second_type_if_pair { using type = T; };
template <typename T, typename U>
struct second_type_if_pair<std::pair<T, U>> {
using type = U;
};
// also tried this, but it didn't help
template <typename T, typename U>
struct second_type_if_pair<std::pair<const T, U>> {
using type = U;
};
template <typename ITERABLE> struct iterable_traits {
using container_type = ITERABLE;
using iterator_type = decltype(std::declval<container_type>().begin());
using value_type = typename std::remove_reference<decltype(
std::declval<iterator_type>().operator*())>::type;
static constexpr bool is_map = is_pair<value_type>::value;
using key_type =
std::conditional_t<is_map, typename value_type::first_type,
value_type>;
using mapped_type =
std::conditional_t<is_map, typename value_type::second_type,
value_type>;
};
} // namespace matplot
#endif // MATPLOTPLUSPLUS_TYPE_TRAITS_H

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####### Expanded from @PACKAGE_INIT@ by configure_package_config_file() #######
####### Any changes to this file will be overwritten by the next CMake run ####
####### The input file was Matplot++Config.cmake.in ########
get_filename_component(PACKAGE_PREFIX_DIR "${CMAKE_CURRENT_LIST_DIR}/../../../" ABSOLUTE)
macro(set_and_check _var _file)
set(${_var} "${_file}")
if(NOT EXISTS "${_file}")
message(FATAL_ERROR "File or directory ${_file} referenced by variable ${_var} does not exist !")
endif()
endmacro()
macro(check_required_components _NAME)
foreach(comp ${${_NAME}_FIND_COMPONENTS})
if(NOT ${_NAME}_${comp}_FOUND)
if(${_NAME}_FIND_REQUIRED_${comp})
set(${_NAME}_FOUND FALSE)
endif()
endif()
endforeach()
endmacro()
####################################################################################
# How this Matplot++ installation was built
set(MATPLOT_BUILT_SHARED "ON")
set(MATPLOT_BUILT_CXX_COMPILER_ID "GNU")
set(MATPLOT_BUILT_CXX_COMPILER_VERSION "11.4.0")
# Check if it matches the current toolchain
if (NOT CMAKE_CXX_COMPILER_ID STREQUAL MATPLOT_BUILT_CXX_COMPILER_ID)
message(WARNING "This installation of Matplot++ was built with ${MATPLOT_BUILT_CXX_COMPILER_ID}.")
endif()
# Find dependencies
if(NOT ${MATPLOT_BUILT_SHARED})
include(CMakeFindDependencyMacro)
list(APPEND CMAKE_MODULE_PATH ${MATPLOT_CONFIG_INSTALL_DIR})
list(APPEND CMAKE_MODULE_PATH "${CMAKE_CURRENT_LIST_DIR}")
# OpenGL backend
if (OFF)
find_dependency(glad)
find_dependency(glfw3)
endif()
list(POP_BACK CMAKE_MODULE_PATH)
endif()
# Create imported targets
include("${CMAKE_CURRENT_LIST_DIR}/Matplot++Targets.cmake")
check_required_components(Matplot++)

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# This is a basic version file for the Config-mode of find_package().
# It is used by write_basic_package_version_file() as input file for configure_file()
# to create a version-file which can be installed along a config.cmake file.
#
# The created file sets PACKAGE_VERSION_EXACT if the current version string and
# the requested version string are exactly the same and it sets
# PACKAGE_VERSION_COMPATIBLE if the current version is >= requested version,
# but only if the requested major version is the same as the current one.
# The variable CVF_VERSION must be set before calling configure_file().
set(PACKAGE_VERSION "1.2.0")
if(PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION)
set(PACKAGE_VERSION_COMPATIBLE FALSE)
else()
if("1.2.0" MATCHES "^([0-9]+)\\.")
set(CVF_VERSION_MAJOR "${CMAKE_MATCH_1}")
if(NOT CVF_VERSION_MAJOR VERSION_EQUAL 0)
string(REGEX REPLACE "^0+" "" CVF_VERSION_MAJOR "${CVF_VERSION_MAJOR}")
endif()
else()
set(CVF_VERSION_MAJOR "1.2.0")
endif()
if(PACKAGE_FIND_VERSION_RANGE)
# both endpoints of the range must have the expected major version
math (EXPR CVF_VERSION_MAJOR_NEXT "${CVF_VERSION_MAJOR} + 1")
if (NOT PACKAGE_FIND_VERSION_MIN_MAJOR STREQUAL CVF_VERSION_MAJOR
OR ((PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "INCLUDE" AND NOT PACKAGE_FIND_VERSION_MAX_MAJOR STREQUAL CVF_VERSION_MAJOR)
OR (PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "EXCLUDE" AND NOT PACKAGE_FIND_VERSION_MAX VERSION_LESS_EQUAL CVF_VERSION_MAJOR_NEXT)))
set(PACKAGE_VERSION_COMPATIBLE FALSE)
elseif(PACKAGE_FIND_VERSION_MIN_MAJOR STREQUAL CVF_VERSION_MAJOR
AND ((PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "INCLUDE" AND PACKAGE_VERSION VERSION_LESS_EQUAL PACKAGE_FIND_VERSION_MAX)
OR (PACKAGE_FIND_VERSION_RANGE_MAX STREQUAL "EXCLUDE" AND PACKAGE_VERSION VERSION_LESS PACKAGE_FIND_VERSION_MAX)))
set(PACKAGE_VERSION_COMPATIBLE TRUE)
else()
set(PACKAGE_VERSION_COMPATIBLE FALSE)
endif()
else()
if(PACKAGE_FIND_VERSION_MAJOR STREQUAL CVF_VERSION_MAJOR)
set(PACKAGE_VERSION_COMPATIBLE TRUE)
else()
set(PACKAGE_VERSION_COMPATIBLE FALSE)
endif()
if(PACKAGE_FIND_VERSION STREQUAL PACKAGE_VERSION)
set(PACKAGE_VERSION_EXACT TRUE)
endif()
endif()
endif()
# if the installed project requested no architecture check, don't perform the check
if("FALSE")
return()
endif()
# if the installed or the using project don't have CMAKE_SIZEOF_VOID_P set, ignore it:
if("${CMAKE_SIZEOF_VOID_P}" STREQUAL "" OR "8" STREQUAL "")
return()
endif()
# check that the installed version has the same 32/64bit-ness as the one which is currently searching:
if(NOT CMAKE_SIZEOF_VOID_P STREQUAL "8")
math(EXPR installedBits "8 * 8")
set(PACKAGE_VERSION "${PACKAGE_VERSION} (${installedBits}bit)")
set(PACKAGE_VERSION_UNSUITABLE TRUE)
endif()

19
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#----------------------------------------------------------------
# Generated CMake target import file for configuration "Release".
#----------------------------------------------------------------
# Commands may need to know the format version.
set(CMAKE_IMPORT_FILE_VERSION 1)
# Import target "Matplot++::matplot" for configuration "Release"
set_property(TARGET Matplot++::matplot APPEND PROPERTY IMPORTED_CONFIGURATIONS RELEASE)
set_target_properties(Matplot++::matplot PROPERTIES
IMPORTED_LOCATION_RELEASE "${_IMPORT_PREFIX}/lib/libmatplot.so.1.2.0"
IMPORTED_SONAME_RELEASE "libmatplot.so.1"
)
list(APPEND _IMPORT_CHECK_TARGETS Matplot++::matplot )
list(APPEND _IMPORT_CHECK_FILES_FOR_Matplot++::matplot "${_IMPORT_PREFIX}/lib/libmatplot.so.1.2.0" )
# Commands beyond this point should not need to know the version.
set(CMAKE_IMPORT_FILE_VERSION)

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# Generated by CMake
if("${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION}" LESS 2.6)
message(FATAL_ERROR "CMake >= 2.6.0 required")
endif()
cmake_policy(PUSH)
cmake_policy(VERSION 2.6...3.20)
#----------------------------------------------------------------
# Generated CMake target import file.
#----------------------------------------------------------------
# Commands may need to know the format version.
set(CMAKE_IMPORT_FILE_VERSION 1)
# Protect against multiple inclusion, which would fail when already imported targets are added once more.
set(_targetsDefined)
set(_targetsNotDefined)
set(_expectedTargets)
foreach(_expectedTarget Matplot++::matplot)
list(APPEND _expectedTargets ${_expectedTarget})
if(NOT TARGET ${_expectedTarget})
list(APPEND _targetsNotDefined ${_expectedTarget})
endif()
if(TARGET ${_expectedTarget})
list(APPEND _targetsDefined ${_expectedTarget})
endif()
endforeach()
if("${_targetsDefined}" STREQUAL "${_expectedTargets}")
unset(_targetsDefined)
unset(_targetsNotDefined)
unset(_expectedTargets)
set(CMAKE_IMPORT_FILE_VERSION)
cmake_policy(POP)
return()
endif()
if(NOT "${_targetsDefined}" STREQUAL "")
message(FATAL_ERROR "Some (but not all) targets in this export set were already defined.\nTargets Defined: ${_targetsDefined}\nTargets not yet defined: ${_targetsNotDefined}\n")
endif()
unset(_targetsDefined)
unset(_targetsNotDefined)
unset(_expectedTargets)
# Compute the installation prefix relative to this file.
get_filename_component(_IMPORT_PREFIX "${CMAKE_CURRENT_LIST_FILE}" PATH)
get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
get_filename_component(_IMPORT_PREFIX "${_IMPORT_PREFIX}" PATH)
if(_IMPORT_PREFIX STREQUAL "/")
set(_IMPORT_PREFIX "")
endif()
# Create imported target Matplot++::matplot
add_library(Matplot++::matplot SHARED IMPORTED)
set_target_properties(Matplot++::matplot PROPERTIES
INTERFACE_COMPILE_DEFINITIONS "NOMINMAX;MATPLOT_BUILD_HIGH_RESOLUTION_WORLD_MAP"
INTERFACE_COMPILE_FEATURES "cxx_std_17"
INTERFACE_INCLUDE_DIRECTORIES "${_IMPORT_PREFIX}/include"
)
# Load information for each installed configuration.
get_filename_component(_DIR "${CMAKE_CURRENT_LIST_FILE}" PATH)
file(GLOB CONFIG_FILES "${_DIR}/Matplot++Targets-*.cmake")
foreach(f ${CONFIG_FILES})
include(${f})
endforeach()
# Cleanup temporary variables.
set(_IMPORT_PREFIX)
# Loop over all imported files and verify that they actually exist
foreach(target ${_IMPORT_CHECK_TARGETS} )
foreach(file ${_IMPORT_CHECK_FILES_FOR_${target}} )
if(NOT EXISTS "${file}" )
message(FATAL_ERROR "The imported target \"${target}\" references the file
\"${file}\"
but this file does not exist. Possible reasons include:
* The file was deleted, renamed, or moved to another location.
* An install or uninstall procedure did not complete successfully.
* The installation package was faulty and contained
\"${CMAKE_CURRENT_LIST_FILE}\"
but not all the files it references.
")
endif()
endforeach()
unset(_IMPORT_CHECK_FILES_FOR_${target})
endforeach()
unset(_IMPORT_CHECK_TARGETS)
# This file does not depend on other imported targets which have
# been exported from the same project but in a separate export set.
# Commands beyond this point should not need to know the version.
set(CMAKE_IMPORT_FILE_VERSION)
cmake_policy(POP)

1
dependency/x86/third_party/matplotplusplus/1.2.0/lib/libmatplot.so vendored Symbolic link
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@ -0,0 +1 @@
libmatplot.so.1

1
dependency/x86/third_party/matplotplusplus/1.2.0/lib/libmatplot.so.1 vendored Symbolic link
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@ -0,0 +1 @@
libmatplot.so.1.2.0

BIN
dependency/x86/third_party/matplotplusplus/1.2.0/lib/libmatplot.so.1.2.0 vendored Normal file
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1
model/xiaoyan_description/dual_arm.xml
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@ -229,7 +229,6 @@
</worldbody> </worldbody>
<!-- 关节空间 PD 位置控制：ctrl = 目标关节角度 (rad) -->
<actuator> <actuator>
<!-- 左臂：位置控制 --> <!-- 左臂：位置控制 -->
<position name="L_SHOULDER_P_pos" joint="L_SHOULDER_P" <position name="L_SHOULDER_P_pos" joint="L_SHOULDER_P"

1
request.txt
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@ -32,5 +32,6 @@ third_party/opencv/4.13.0
third_party/modbus/3.1.11 third_party/modbus/3.1.11
third_party/visp/3.7.0 third_party/visp/3.7.0
third_party/mainif/0.0.5 third_party/mainif/0.0.5
third_party/matplotplusplus/1.2.0